Photovoltaic cleaning robot based on RTK

Abstract

The utility model relates to a photovoltaic cleaning robot based on RTK, which comprises a robot body, cleaning assemblies are respectively arranged at the front end and the rear end of the robot body, and photovoltaic assemblies in a photovoltaic array in a photovoltaic power station are cleaned through the cleaning assemblies; an RTK base station is fixedly installed in the photovoltaic power station, and an RTK moving station is arranged on a machine body of the photovoltaic cleaning robot; a first visual sensor is arranged at the front end of the bottom of the machine body and is used for detecting a photovoltaic module at the bottom of the machine body and obtaining a first line feature; a second visual sensor is arranged at the top end of the front portion of the machine body and used for detecting the photovoltaic assembly in front of the machine body and obtaining second line characteristics. The device has the characteristics of simple structure, convenience in operation, safety and reliability; the global positioning data obtained through the RTK carrier phase difference technology and the local positioning data obtained through the visual detection technology are fused to obtain more accurate positioning data.

Description

Technical Field

[0001] The utility model relates to a photovoltaic cleaning robot based on RTK. Background Art

[0002] As a renewable and clean energy, solar photovoltaic has become an important force in today's global energy transformation. The surface of solar panels is prone to accumulate dust, sand and other dirt. If there is no timely, scientific and professional cleaning and monitoring and other maintenance operations, it can cause the power generation of the components to decay by up to 40%-60%, and the power generation to drop by 20%-30%. Therefore, the concept of improving the power generation and efficiency of power stations by reasonably and scientifically cleaning and maintaining solar panels and carefully maintaining components has been recognized by the industry.

[0003] Currently, there are two basic technical types of photovoltaic robots on duty in fixed areas on the market: fixed track type and RTK carrier phase differential technology.

[0004] Fixed-track equipment requires a large number of units in the same area, has high installation and equipment costs, and has a low equipment utilization rate; it only relies on the rotational force of the bristles at the front end of the roller brush to produce little destructive force on stains, and the actual cleaning effect is poor; it is normal for the motors at both ends to be stuck and shut down due to asynchrony; and long-term exposure can easily cause damage to some components.

[0005] Although the mobile robot using RTK carrier phase differential technology can achieve centimeter-level positioning, the signal accuracy decreases during actual operation due to the high electromagnetic interference from photovoltaic power stations and other factors. The longer the distance, the more difficult it is to ensure a linear cleaning trajectory. Some components may miss some areas, and the actual cleaning efficiency is not high. Utility Model Content

[0006] In view of the above problems existing in the prior art, the main purpose of the utility model is to provide a photovoltaic cleaning robot based on RTK.

[0007] The technical solution of the utility model is as follows:

[0008] A photovoltaic cleaning robot based on RTK, the photovoltaic cleaning robot comprising a fuselage, a cleaning assembly is respectively arranged at the front end and the rear end of the fuselage, and a driving assembly is respectively arranged at both sides of the fuselage, the photovoltaic cleaning robot walks under the drive of the driving assembly, and cleans the photovoltaic assemblies in the photovoltaic array of the photovoltaic power station through the cleaning assembly; an RTK base station is fixedly installed in the photovoltaic power station, and an RTK mobile station is arranged on the fuselage of the photovoltaic cleaning robot;

[0009] According to the actual scene of the photovoltaic components in the photovoltaic power station, a cleaning area is set, a cleaning operation route is planned, and a photovoltaic cleaning robot is started, and the photovoltaic cleaning robot travels along the designated cleaning operation route to clean the photovoltaic components;

[0010] A first visual sensor is fixedly arranged at the front end of the bottom of the fuselage, the first visual sensor faces the ground, and the first visual sensor is used to detect the photovoltaic components at the bottom of the fuselage and obtain a first line feature; a second visual sensor is fixedly arranged at the top of the front of the fuselage, the second visual sensor faces the front of the fuselage, and the second visual sensor is used to detect the photovoltaic components at the front of the fuselage and obtain a second line feature;

[0011] The first line feature obtained by the first visual sensor or the second line feature obtained by the second visual sensor is compared with the specifications of the known photovoltaic components to obtain the relative position of the photovoltaic cleaning robot. At the same time, the position of the photovoltaic cleaning robot is corrected in time in combination with the current position of the photovoltaic cleaning robot and the distribution of photovoltaic components in the cleaning map.

[0012] The first visual sensor is a first camera component, and the parameters of the first camera component are: 720P and 80-degree lens.

[0013] The first visual sensor uses an OV7720 camera capable of night vision.

[0014] The first visual sensor is used to detect the grid lines of the solar cells in the photovoltaic array at the bottom of the fuselage and the interval between two adjacent solar cells.

[0015] The first visual sensor is also used to detect the frame of the photovoltaic components in the photovoltaic array at the bottom of the body of the photovoltaic cleaning robot, the connecting components between two adjacent photovoltaic components, and the distance between two connected photovoltaic components.

[0016] The second visual sensor is a second camera component, and the parameters of the second camera component are: 1080P and 140-degree lens.

[0017] The second visual sensor adopts the H7650 camera with night vision.

[0018] The second visual sensor is used to detect the interval between two adjacent solar cells in the photovoltaic array in front of the body of the photovoltaic cleaning robot.

[0019] The second visual sensor is also used to detect the frame of the photovoltaic components in the photovoltaic array in front of the fuselage, the connecting components between two adjacent photovoltaic components, and the distance between two connected photovoltaic components.

[0020] The RTK base station is used to transmit its observation values ​​and station coordinate information to the RTK mobile station through a data link. The RTK base station adopts an RTK wireless base station module, model WTRTK-4GB;

[0021] The RTK mobile station adopts RTK wireless positioning and orientation module, model WTRTK-4GA;

[0022] The RTK base station covers a distance of 50 km, uses 4G communication, has an update frequency of 5 Hz, a horizontal / vertical accuracy of 0.01 m+1 PPM CEP, and a heading angle accuracy of 0.4 DEG.

[0023] The RTK mobile station is used to receive the measurement data sent from the RTK base station through a data link, and at the same time collect the observation data of the global satellite navigation and positioning system, and form the observation values ​​for real-time processing, and then output centimeter-level positioning data at a frequency of 1-5Hz. The photovoltaic cleaning robot calculates the center position of the current photovoltaic cleaning robot based on the real-time updated positioning data and the relative position of the RTK mobile station installation, and forms the current posture of the photovoltaic cleaning robot.

[0024] The utility model has the following advantages and beneficial effects: the utility model has the characteristics of simple structure, easy operation, safety and reliability; at the same time, in view of the phenomenon that the photovoltaic cleaning robot based on RTK positioning and navigation cannot completely drive in a straight line according to the preset trajectory during the cleaning operation, resulting in component leakage, etc., a camera visual detection module is used to perform feature detection on the component surface for more accurate real-time positioning. This method overcomes the influence of errors generated by RTK signals and improves the accuracy and efficiency of the photovoltaic cleaning robot walking along the preset navigation trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the three-dimensional structure of a photovoltaic cleaning robot provided in an embodiment of the utility model.

[0026] Figure 2 A schematic diagram of a photovoltaic cleaning robot provided in an embodiment of the utility model performing cleaning operations on a photovoltaic array. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiment of the utility model clearer, the technical scheme in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, rather than all the embodiments. The components of the embodiment of the utility model generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiment of the utility model provided in the drawings is not intended to limit the scope of the utility model for protection, but merely represents the selected embodiment of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the utility model.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1 to Figure 2As shown: an RTK-based photovoltaic cleaning robot provided by an embodiment of the utility model, the photovoltaic cleaning robot comprises a body 100, a cleaning component 101 is respectively provided at the front end and the rear end of the body 100, and a driving component 102 is respectively provided at both sides of the body 100, the photovoltaic cleaning robot walks under the drive of the driving component 102, and cleans the photovoltaic components 201 in the photovoltaic array 200 in the photovoltaic power station through the cleaning component 101; an RTK base station (not shown in the figure) is fixedly installed in the photovoltaic power station, and an RTK mobile station 300 is provided on the body 100 of the photovoltaic cleaning robot;

[0032] According to the actual scene of the photovoltaic assembly 201 in the photovoltaic power station, a cleaning area is set, a cleaning operation route is planned, and a photovoltaic cleaning robot is started, and the photovoltaic cleaning robot travels along the designated cleaning operation route to clean the photovoltaic assembly;

[0033] A first visual sensor 111 is fixedly arranged at the front end of the bottom of the fuselage 100, the first visual sensor faces the ground, and the first visual sensor 111 is used to detect the photovoltaic module 201 at the bottom of the fuselage 100 and obtain a first line feature; specifically, the first line feature includes the grid lines of the battery cells in the photovoltaic module 201 at the bottom of the fuselage 100 and the interval between two adjacent battery cells; a second visual sensor 112 is fixedly arranged at the top of the front part of the fuselage 100, the second visual sensor 112 faces the front of the fuselage 100, and the second visual sensor 112 is used to detect the photovoltaic module 201 at the front of the fuselage 100 and obtain a second line feature; specifically, the second line feature includes the interval between two adjacent battery cells in the photovoltaic module 201 at the front of the fuselage 100, the frame of the photovoltaic module 201, and the connecting component between two adjacent photovoltaic modules 201.

[0034] The first line feature obtained by the first visual sensor 111 or the second line feature obtained by the second visual sensor 112 is specifically as follows: first, through the second line feature, the second line feature is projected on a two-dimensional plane of a bird's-eye view through perspective transformation, the corresponding lines are pieced together and make up for objects such as photovoltaic components or connecting bridges, and then the positions of components or connecting bridges are matched on the map, and at the same time, the current posture of the photovoltaic cleaning robot and the distribution of photovoltaic components in the cleaning map are combined to calculate the global rough position of the photovoltaic cleaning robot relative to the current component plane in the longitudinal and lateral directions. Then, the image captured by the first visual sensor 111 is firstly subjected to deep learning image classification to determine whether the photovoltaic cleaning robot is currently on the plane of objects such as photovoltaic components or on the connection of objects such as photovoltaic components or connecting bridges, and then paired again. If the photovoltaic cleaning robot is on the plane of an object such as a photovoltaic module, the local straight reference line path of the observation plane can be obtained based on the first line feature. The local straight reference line path can include the grid lines of the cells in the photovoltaic module and the interval between two adjacent cells, the artificially processed guide line on the connecting bridge, and the coordinates of the first line feature straight line obtained by straight line detection are calculated with the feature straight line of the forward direction map for lateral distance and angle deviation, and then the local relative lateral precise position of the current first visual sensor 111 and the cells in the photovoltaic module is calculated by coordinate conversion. If the photovoltaic cleaning robot is at the connection of an object such as a photovoltaic module or a connecting bridge, the coordinates of the second line feature straight line obtained by straight line detection are calculated based on the first line feature, the horizontal line of the connection interval between the current plane and the plane of the forward direction object, and the deviation is calculated with the starting position of the longitudinal interval between other objects such as photovoltaic modules and connecting bridges in the forward direction map, and the local relative longitudinal precise position of the current first visual sensor 111 and the connection is calculated. Finally, based on the global rough position of the second line feature and the local relative horizontal or vertical precise position of the first line feature, the global relative precise position of the photovoltaic cleaning robot on the map can be calculated, so that the posture of the photovoltaic cleaning robot can be corrected in time.

[0035] The first visual sensor 111 is a first camera component, wherein: the parameters of the first camera component are: 720P and 80-degree lens, specifically using a night vision OV7720 camera; the first visual sensor 111 is used to detect the grid lines of the battery cells in the photovoltaic array 200 at the bottom of the fuselage 100 and the interval between two adjacent battery cells.

[0036] The first visual sensor 111 is also used to detect the frame of the photovoltaic components in the photovoltaic array at the bottom of the body of the photovoltaic cleaning robot, the connecting components between two adjacent photovoltaic components, and the distance between two connected photovoltaic components.

[0037] The second visual sensor 112 is a second camera component, wherein: the parameters of the second camera component are: 1080P and 140-degree lens, specifically using a night vision H7650 camera; the second visual sensor is used to detect the interval between two adjacent cells in the photovoltaic array in front of the body of the photovoltaic cleaning robot.

[0038] The second visual sensor 112 is also used to detect the frame of the photovoltaic components 201 in the photovoltaic array 200 in front of the fuselage, the connecting components between two adjacent photovoltaic components 201, and the distance between two connected photovoltaic components 201.

[0039] The RTK base station is used to transmit its observation values ​​and station coordinate information to the RTK mobile station through the data link. The specific parameters of the RTK base station and the RTK mobile station are as follows: the RTK base station adopts the RTK wireless base station module, model WTRTK-4GB; the RTK mobile station adopts the RTK wireless positioning and orientation module, model WTRTK-4GA; the RTK base station covers a distance of 50Km, 4G communication, an update frequency of 5Hz, a horizontal / vertical accuracy of 0.01m+1PPMCEP, and a heading angle accuracy of 0.4DEG.

[0040] The RTK mobile station 300 is used to receive the measurement data sent from the RTK base station through a data link, and at the same time collect the observation data of the global satellite navigation and positioning system, and form the observation values ​​for real-time processing, and then output centimeter-level positioning data at a frequency of 1-5Hz. The photovoltaic cleaning robot calculates the center position of the current photovoltaic cleaning robot based on the real-time updated positioning data and the relative position of the RTK mobile station 300, and forms the current posture of the photovoltaic cleaning robot.

[0041] In order to solve the problem that photovoltaic cleaning robots based on RTK positioning and navigation cannot travel in a straight line along the preset trajectory during cleaning operations, resulting in missed components, a camera visual detection module is used to perform feature detection on the component surface for more accurate real-time positioning. This method overcomes the influence of errors generated by RTK signals and improves the accuracy and efficiency of the photovoltaic cleaning robot walking along the preset navigation trajectory.

[0042] The technical problem to be solved by the utility model is that a photovoltaic robot can realize more accurate real-time positioning by viewing the line features of components through a camera when RTK is used as the main positioning signal.

[0043] An RTK-based photovoltaic cleaning robot provided by an embodiment of the utility model uses one or more visual sensors to detect photovoltaic components when the photovoltaic cleaning robot with an RTK mobile station is started to operate along a specified route. That is, the photovoltaic components at the bottom of the photovoltaic cleaning robot are detected by a first visual sensor to obtain a first line feature, and the photovoltaic components in front of the photovoltaic cleaning robot are detected by a second visual sensor to obtain a second line feature, which is compared with the specifications of the known photovoltaic components to obtain the relative position of the photovoltaic cleaning robot. The current posture of the photovoltaic cleaning robot is combined with the distribution of photovoltaic components in the cleaning map to make timely corrections to the posture of the photovoltaic cleaning robot, which can ensure that the photovoltaic cleaning robot maintains precise positioning in the event of unstable and deviated signals within a short period of time, and the actual driving route of the photovoltaic cleaning robot is closer to the preset route, thereby achieving precise cleaning operations.

[0044] At present, for on-duty power stations, RTK base stations are installed in photovoltaic power stations, and RTK mobile stations are equipped on photovoltaic cleaning robots. The RTK base station transmits its observation values ​​and station coordinate information to the mobile station through the data link. The RTK mobile station not only receives data from the base station through the data link, but also collects observation data from the global satellite navigation and positioning system, and forms differential observation values ​​in the system for real-time processing, and outputs centimeter-level positioning results at a frequency of 1-5Hz. The photovoltaic cleaning robot calculates the center position of the current photovoltaic cleaning robot based on the update of the data and the relative position of the mobile station installation. According to the actual scenario, the cleaning area and actual cleaning needs are set, the cleaning operation route is planned, the coverage area is ensured, and when the photovoltaic cleaning robot is started to drive along the specified route, the relative position calculated by the RTK mobile station is constantly compared with the deviation of the preset operation path, and the driving drive is controlled to correct the deviation to ensure that the machine drives along the specified route as much as possible.

[0045] A first visual sensor, i.e., a first camera assembly, is installed at the front end of the bottom of the photovoltaic cleaning robot to capture images of the photovoltaic modules at the bottom of the photovoltaic cleaning robot and extract specific first line features on the surface of the photovoltaic modules, including the metal grid lines of the battery cells, the gap intervals between two connected battery cells, and the connecting components and gap intervals installed between two connected photovoltaic modules. The center position of the current photovoltaic cleaning robot is calculated by referring to the positional relationship between the first camera and the center of the current photovoltaic cleaning robot. The current posture calculated by the first camera and the distribution of photovoltaic modules in the cleaning map are combined, and the position of the photovoltaic cleaning robot obtained by RTK is corrected in time.

[0046] A second visual sensor, i.e., a second camera assembly, is installed at the top front of the photovoltaic cleaning robot. It captures images of the photovoltaic modules in front of the photovoltaic cleaning robot to extract rough second line features on the surface of the photovoltaic modules, including the gap between two adjacent solar cells, the connecting assembly (i.e., the frame bracket) and the gap between two adjacent photovoltaic modules. The center position of the current photovoltaic cleaning robot is calculated by referring to the positional relationship between the second camera and the center of the current photovoltaic cleaning robot. The current posture calculated by the second camera and the distribution of photovoltaic modules in the cleaning map are combined, and the position obtained by RTK is integrated to make minor corrections in time.

[0047] The global positioning data obtained through RTK carrier phase difference technology and the local positioning data obtained through visual detection technology are integrated to obtain more accurate positioning data, ensuring that the vehicle maintains real-time driving along the preset path during the operation.

[0048] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A photovoltaic cleaning robot based on RTK, characterized in that: The photovoltaic cleaning robot comprises a fuselage, a cleaning assembly is respectively arranged at the front end and the rear end of the fuselage, and a driving assembly is respectively arranged at both sides of the fuselage, the photovoltaic cleaning robot walks under the drive of the driving assembly, and performs cleaning operations on photovoltaic assemblies in a photovoltaic array in a photovoltaic power station through the cleaning assembly; an RTK reference station is fixedly installed in the photovoltaic power station, and an RTK mobile station is arranged on the fuselage of the photovoltaic cleaning robot; According to the actual scene of the photovoltaic components in the photovoltaic power station, a cleaning area is set, a cleaning operation route is planned, and a photovoltaic cleaning robot is started, and the photovoltaic cleaning robot travels along the designated cleaning operation route to clean the photovoltaic components; A first visual sensor is fixedly arranged at the front end of the bottom of the fuselage, the first visual sensor faces the ground, and the first visual sensor is used to detect the photovoltaic components at the bottom of the fuselage; a second visual sensor is fixedly arranged at the top end of the front of the fuselage, the second visual sensor faces the front of the fuselage, and the second visual sensor is used to detect the photovoltaic components in front of the fuselage.

2. The RTK-based photovoltaic cleaning robot according to claim 1, characterized in that: The first visual sensor is a first camera component, and the parameters of the first camera component are: 720P and 80-degree lens.

3. The RTK-based photovoltaic cleaning robot according to claim 2, characterized in that: The first visual sensor uses an OV7720 camera capable of night vision.

4. The RTK-based photovoltaic cleaning robot according to claim 2, characterized in that: The first visual sensor is used to detect the grid lines of the solar cells in the photovoltaic array at the bottom of the fuselage and the interval between two adjacent solar cells.

5. The RTK-based photovoltaic cleaning robot according to claim 2, characterized in that: The first visual sensor is also used to detect the frame of the photovoltaic components in the photovoltaic array at the bottom of the body of the photovoltaic cleaning robot, the connecting components between two adjacent photovoltaic components, and the distance between two connected photovoltaic components.

6. The RTK-based photovoltaic cleaning robot according to claim 1, characterized in that: The second visual sensor is a second camera assembly, and the parameters of the second camera assembly are: 1080P and 140-degree lens; The second visual sensor adopts the H7650 camera with night vision.

7. The RTK-based photovoltaic cleaning robot according to claim 6, characterized in that: The second visual sensor is used to detect the interval between two adjacent solar cells in the photovoltaic array in front of the body of the photovoltaic cleaning robot.

8. The RTK-based photovoltaic cleaning robot according to claim 6, characterized in that: The second visual sensor is also used to detect the frame of the photovoltaic components in the photovoltaic array in front of the fuselage, the connecting components between two adjacent photovoltaic components, and the distance between two connected photovoltaic components.

9. The RTK-based photovoltaic cleaning robot according to claim 1, characterized in that: The RTK base station is in communication connection with the RTK mobile station, and the RTK base station adopts an RTK wireless base station module, model WTRTK-4GB.

10. The RTK-based photovoltaic cleaning robot according to claim 9, characterized in that: The RTK mobile station adopts RTK wireless positioning and orientation module, model WTRTK-4GA; The RTK base station covers a distance of 50 km, uses 4G communication, has an update frequency of 5 Hz, a horizontal / vertical accuracy of 0.01 m+1 PPM CEP, and a heading angle accuracy of 0.4 DEG.

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