Photovoltaic cleaning robot, control method of photovoltaic cleaning robot and electronic equipment

Abstract

The present invention provides a photovoltaic cleaning robot, a control method of the photovoltaic cleaning robot and an electronic device, and relates to the technical field of robot posture control. The photovoltaic cleaning robot includes an electrically connected controller, a drive motor, a first drive wheel, a second drive wheel and a plurality of stress sensors capable of generating voltage signals when subjected to force. When each stress sensor generates a voltage signal, the controller is used to obtain the current force condition of the photovoltaic cleaning robot through the voltage signal generated by each stress sensor, and determine the current posture of the photovoltaic cleaning robot according to the current force condition, and select a target control strategy corresponding to the current posture from a preset strategy set, and control the drive motor according to the target control strategy to adjust the current posture, thereby reducing the judgment error of the current posture and facilitating timely adjustment of the current posture.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of robot posture control, and in particular to a photovoltaic cleaning robot, a control method of the photovoltaic cleaning robot and electronic equipment. Background Art

[0002] The photovoltaic cleaning robot is a robot used to clean the surface of photovoltaic modules. During the cleaning process, the upper and lower wheels of the photovoltaic cleaning robot may move at different speeds, which may cause the robot to tilt or even get stuck on the photovoltaic module and be unable to clean.

[0003] At present, the current posture of the photovoltaic cleaning robot is usually determined by a swing arm with a distance sensor hanging from the bottom of the photovoltaic cleaning robot for adjustment. When the photovoltaic cleaning robot tilts, the swing arm will also tilt relative to the photovoltaic cleaning robot. At this time, the current posture is adjusted according to the tilt direction of the swing arm and the reading of the distance sensor. However, since the swing arm is likely to swing irregularly during the cleaning process, it will cause great interference to the posture judgment of the photovoltaic cleaning robot, resulting in a large error in the judgment of the current posture, making it impossible to adjust the current posture in time, and the photovoltaic cleaning robot may get stuck on the photovoltaic module and be unable to clean. Summary of the invention

[0004] One of the purposes of the present invention is to reduce the error in judging the current posture so that the current posture of the photovoltaic cleaning robot can be adjusted in time to avoid the photovoltaic cleaning robot getting stuck on the photovoltaic module and being unable to clean.

[0005] The second object of the present invention is to provide a photovoltaic cleaning robot that can be applied to photovoltaic modules of various structures and arrangements, has strong adaptability, is less affected by external harsh environments, and has strong robustness.

[0006] The third purpose of the present invention is to avoid the cumulative error generated during the operation process, so that the posture control is more stable.

[0007] Based on the above purpose, in a first aspect of the present invention, a photovoltaic cleaning robot is provided, the photovoltaic cleaning robot comprising an electrically connected controller, a drive motor, a first drive wheel, a second drive wheel and a plurality of stress sensors capable of generating a voltage signal when subjected to force, when each stress sensor generates a voltage signal, the controller is used to perform the following steps:

[0008] Acquiring the current stress condition of the photovoltaic cleaning robot through the voltage signals generated by the stress sensors;

[0009] Determining a current posture of the photovoltaic cleaning robot according to the current force condition;

[0010] A target control strategy corresponding to the current posture is selected from a preset strategy set, and the drive motor is controlled according to the target control strategy to adjust the current posture.

[0011] In an optional embodiment, the controller is housed in a mainboard of the photovoltaic cleaning robot; the photovoltaic cleaning robot has a plurality of rotating wheel structures arranged on both sides of the mainboard, wherein each rotating wheel structure is connected to a corresponding stress sensor.

[0012] In an optional embodiment, each stress sensor includes a metal elastic body connected between a corresponding one of the rotating wheel structures and the main board, and a strain gauge matched with the metal elastic body.

[0013] In an optional implementation, the controller is specifically configured to:

[0014] Control the drive motor to drive the first drive wheel and the second drive wheel to maintain the current rotation speed; or,

[0015] Control the driving motor to drive the first driving wheel and / or the second driving wheel to adjust the current rotation speed according to the target control strategy, so that the photovoltaic cleaning robot adjusts the current posture under the rotation of the first driving wheel and / or the second driving wheel; or,

[0016] The driving motor is controlled to stop driving the first driving wheel or the second driving wheel to rotate, or the driving motor is controlled to drive the first driving wheel or the second driving wheel to rotate in the opposite direction of the current driving direction.

[0017] In an optional implementation, in the process of controlling the drive motor to drive the first drive wheel and / or the second drive wheel to adjust the current speed according to the target control strategy, the controller is specifically used to:

[0018] Determining the offset direction of the photovoltaic cleaning robot according to the current total force;

[0019] Recording the cumulative force of the photovoltaic cleaning robot since the relative offset occurs, and calculating the stress integral parameter for the current posture according to the cumulative force and the first force threshold;

[0020] Obtaining a corresponding attitude control value according to the stress integral parameter, the current total force and a preset system parameter, and generating a control signal for the drive motor according to the attitude control value and the offset direction;

[0021] The control signal is used to control the drive motor to drive the first drive wheel and / or the second drive wheel to adjust the current rotation speed.

[0022] In a second aspect of the present invention, a control method for a photovoltaic cleaning robot is provided, wherein the photovoltaic cleaning robot comprises an electrically connected drive motor, a first drive wheel, a second drive wheel, and stress sensors capable of generating a voltage signal when subjected to force, and when the stress sensors generate a voltage signal, the method comprises:

[0023] Acquiring the current stress condition of the photovoltaic cleaning robot through the voltage signals generated by the stress sensors;

[0024] Determining a current posture of the photovoltaic cleaning robot according to the current force condition;

[0025] A target control strategy corresponding to the current posture is selected from a preset strategy set, and the drive motor is controlled according to the target control strategy to adjust the current posture.

[0026] In an optional implementation, determining the current posture of the photovoltaic cleaning robot according to the current force condition includes:

[0027] The relative offset state of the photovoltaic cleaning robot is determined according to the current total force; wherein:

[0028] If the current total force is less than a preset first force threshold, it is determined that the photovoltaic cleaning robot has not generated a relative deviation;

[0029] If the current total force is not less than the first force threshold and not greater than a preset second force threshold, it is determined that the photovoltaic cleaning robot has a relative offset;

[0030] If the current total force is greater than the second force threshold, it is determined that the photovoltaic cleaning robot has a serious deviation.

[0031] In an optional implementation, the preset strategy set includes:

[0032] Corresponding to a first strategy in which no relative offset is generated, the first strategy includes controlling the drive motor to drive the first drive wheel and the second drive wheel to maintain a current rotation speed;

[0033] A second strategy corresponding to the relative offset, wherein the second strategy includes controlling the drive motor to drive the first drive wheel and / or the second drive wheel to adjust the current rotation speed according to the target control strategy, so that the photovoltaic cleaning robot adjusts the current posture under the rotation of the first drive wheel and / or the second drive wheel;

[0034] Corresponding to the third strategy for generating severe deviation, the third strategy includes controlling the drive motor to stop driving the first drive wheel or the second drive wheel to rotate, or controlling the drive motor to drive the first drive wheel or the second drive wheel to rotate in the opposite direction of the current drive direction.

[0035] In an optional implementation, when the target control strategy is the second strategy, controlling the drive motor according to the target control strategy to adjust the current posture includes:

[0036] Determining the offset direction of the photovoltaic cleaning robot according to the current total force;

[0037] Recording the cumulative force of the photovoltaic cleaning robot since the relative offset occurs, and calculating the stress integral parameter for the current posture according to the cumulative force and the first force threshold;

[0038] Obtaining a corresponding attitude control value according to the stress integral parameter, the current total force and a preset system parameter, and generating a control signal for the drive motor according to the attitude control value and the offset direction;

[0039] The control signal is used to control the drive motor to drive the first drive wheel and / or the second drive wheel to adjust the current rotation speed.

[0040] In a third aspect of the present invention, an electronic device is provided, comprising a processor and a memory; the memory stores computer program instructions, and when the computer program instructions are called by the processor, the control method of the photovoltaic cleaning robot described in any one of the above-mentioned second aspects can be implemented.

[0041] Compared with the prior art, the present invention has the following advantages:

[0042] In the first aspect, the photovoltaic cleaning robot, control method of the photovoltaic cleaning robot and electronic equipment provided by the present invention determine the current posture of the photovoltaic cleaning robot according to the current force conditions, thereby reducing the judgment error of the current posture and facilitating timely adjustment of the current posture.

[0043] On the second aspect, the photovoltaic cleaning robot, the control method of the photovoltaic cleaning robot and the electronic device provided by the present invention reduce the interference to the robot's posture judgment by not having irregularly swinging arms in the components, so that they can be applied to photovoltaic module environments of various structures and arrangements, have strong environmental adaptability, are less affected by the external environment, and have strong robustness.

[0044] The photovoltaic cleaning robot, control method of the photovoltaic cleaning robot and electronic equipment provided by the present invention adjust the current posture of the photovoltaic cleaning robot through stress integral parameters, thereby avoiding cumulative errors generated during operation and making posture control more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are included to provide a further understanding of the present application. They are included and constitute a part of the present application. The accompanying drawings illustrate embodiments of the present application and together with the present specification serve to explain the principles of the present application. In the accompanying drawings:

[0046] Figure 1 This is a schematic diagram of the structure of a photovoltaic cleaning robot provided in one embodiment of the present application;

[0047] Figure 2 is a cross-sectional view of a photovoltaic cleaning robot provided in one embodiment of the present application;

[0048] Figure 3 This is a dynamic schematic diagram of the posture control of a photovoltaic cleaning robot provided by an embodiment of the present application;

[0049] Figure 4 is a flow chart of a control method of a photovoltaic cleaning robot provided by an embodiment of the present application;

[0050] Figure 5 A logic diagram of a photovoltaic cleaning robot control method provided by an embodiment of the present application;

[0051] Figure 6 It is a schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0053] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0054] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0055] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0056] The embodiments of the present application describe a photovoltaic cleaning robot and a control method of the photovoltaic cleaning robot. In the described embodiments, the photovoltaic cleaning robot can be used to clean the surface of a photovoltaic module. In practical applications, the photovoltaic module can be placed parallel to the ground or tilted, and the photovoltaic cleaning robot can be placed on the photovoltaic module by hanging or other means.

[0057] See also Figure 1 , Figure 2As shown, it is a schematic diagram of the structure of a photovoltaic cleaning robot provided by the present application. The photovoltaic cleaning robot has a mainboard 1. The mainboard 1 is roughly rectangular and serves as the main body of the robot. A plurality of rotating wheel structures 2 (four are shown in the figure) are arranged at the first edge and the second edge of the mainboard 1 and protrude from the lower surface 1a of the mainboard 1. A first driving wheel 3 (two are shown in the figure) is arranged between the two rotating wheel structures 2 at the first edge (front side) of the mainboard 1, and a second driving wheel 4 (two are shown in the figure) is arranged between the two rotating wheel structures 2 at the second edge (rear side) of the mainboard 1. The first driving wheel 3 is arranged opposite to the second driving wheel 4. A stress sensor 5 is arranged between each rotating wheel structure 2 and the lower surface 1a of the mainboard 1. The stress sensor 5 includes an elastomer 51 and a strain gauge 52 matched therewith. The material of the elastomer can be metal. The first driving wheel 3 and the second driving wheel 4 can both be controlled by the controller 11 and the driving motor 12 disposed in the mainboard 1 to control their rotation speeds. When the rotation speeds of the first driving wheel 3 and the second driving wheel 4 are inconsistent, the relative force generated can be used to adjust the current posture of the photovoltaic cleaning robot.

[0058] refer to Figure 2 As shown, the main board 1 may have a cavity 1b, in which a controller 11 and a plurality of drive motors 12 (one is shown in the figure) are arranged. In one example, the number of drive motors 12 is 4, corresponding to the two first drive wheels 3 and the two second drive wheels 4. In another example, the number of drive motors 12 is 2, one of which is used to drive the two first drive wheels 3 at the same time, and the other drive motor 12 is used to drive the two second drive wheels 4 at the same time.

[0059] The controller 11 is electrically connected to each stress sensor 5 and each drive motor 12. When each stress sensor 5 generates a voltage signal, the controller 11 is used to perform the following steps: obtaining the current force condition of the photovoltaic cleaning robot through the voltage signal generated by each stress sensor 5; determining the current posture of the photovoltaic cleaning robot according to the current force condition; selecting a target control strategy corresponding to the current posture from a preset strategy set, and controlling the drive motor 12 according to the target control strategy to adjust the current posture.

[0060] Thus, the photovoltaic cleaning robot involved in this embodiment can determine the current posture of the photovoltaic cleaning robot through the current force condition, thereby reducing the judgment error of the current posture and facilitating timely adjustment of the current posture. In addition, since the current force condition is generated relative to the photovoltaic module, it can be applied to photovoltaic modules of various structures and arrangements, has strong adaptability, is less affected by the external harsh environment, and has strong robustness.

[0061] In one possible implementation, the controller 11 is specifically used to: control the drive motor 12 to drive the first drive wheel 3 and the second drive wheel 4 to maintain the current rotation speed; or, control the drive motor 12 to drive the first drive wheel 3 and / or the second drive wheel 4 to adjust the current rotation speed according to the target control strategy, so that the photovoltaic cleaning robot adjusts the current posture under the rotation of the first drive wheel 3 and / or the second drive wheel 4; or, control the drive motor 12 to stop driving the first drive wheel 3 or the second drive wheel 4 to rotate, or, control the drive motor 12 to drive the first drive wheel 3 or the second drive wheel 4 to rotate in the opposite direction of the current driving direction.

[0062] Among them, the controller 11 is used to control the drive motor 12 to drive the first drive wheel 3 and the second drive wheel 4 to maintain the current rotation speed, which can be executed in the process that the controller 11 determines that the current posture of the photovoltaic cleaning robot is not offset relative to the photovoltaic component. The controller 11 is used to control the drive motor 12 to drive the first drive wheel 3 and / or the second drive wheel 4 to adjust the current rotation speed according to the target control strategy, which can be executed in the process that the controller 11 determines that the current posture of the photovoltaic cleaning robot is offset relative to the photovoltaic component and the offset is small. The controller 11 is used to control the drive motor 12 to stop driving the first drive wheel 3 or the second drive wheel 4 to rotate, or control the drive motor 12 to drive the first drive wheel 3 or the second drive wheel 4 to rotate in the opposite direction of the current driving direction, which can be executed in the process that the controller 11 determines that the current posture of the photovoltaic cleaning robot is offset relative to the photovoltaic component and the offset is large.

[0063] In a possible implementation, the controller 11 is used to control the drive motor 12 to drive the first drive wheel 3 and / or the second drive wheel 4 to adjust the current speed according to the target control strategy. The controller 11 is used to: determine the offset direction of the photovoltaic cleaning robot according to the current total force; record the cumulative force of the photovoltaic cleaning robot since the relative offset occurs, and calculate the stress integral parameter for the current posture according to the cumulative force and the first force threshold; obtain the corresponding posture control value according to the stress integral parameter, the current total force and the preset system parameters, and generate a control signal for the drive motor according to the posture control value and the offset direction; and use the control signal to control the drive motor to drive the first drive wheel 3 and / or the second drive wheel 4 to adjust the current speed.

[0064] In this way, the photovoltaic cleaning robot involved in this embodiment adjusts the current posture of the photovoltaic cleaning robot through the stress integration parameter, so as to avoid the cumulative error generated during the operation process and make the posture control more stable.

[0065] For example, see Figure 3As shown, it is a dynamic schematic diagram of the posture control of the photovoltaic cleaning robot provided by an embodiment of the present application. Taking the photovoltaic cleaning robot suspended on the photovoltaic module as an example, starting from the initial moment a, the photovoltaic cleaning robot starts the cleaning operation. At the intermediate moment b, the photovoltaic cleaning robot shifts to the left relative to the photovoltaic module. At this time, the controller 11 obtains the current force condition of the photovoltaic cleaning robot through the voltage signal generated by each stress sensor 5, and determines that the current posture of the photovoltaic cleaning robot is shifted to the left and the shift amplitude is small according to the current force condition. Then, the controller 11 controls the drive motor 12 to drive the first drive wheel 3 and / or the second drive wheel 4 to adjust the current speed according to the target control strategy, so as to adjust the posture of the photovoltaic cleaning robot. At the intermediate moment c, the photovoltaic cleaning robot is restored to parallelism relative to the photovoltaic module under the rotation of the first drive wheel and / or the second drive wheel, until the final moment d, the photovoltaic cleaning robot stops the cleaning operation.

[0066] Further, the present application uses a flow chart to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps may be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0067] See also Figure 4 As shown, it is a flow chart of a control method of a photovoltaic cleaning robot provided by the present application, wherein the photovoltaic cleaning robot includes an electrically connected driving motor, a first driving wheel, a second driving wheel, and various stress sensors capable of generating voltage signals when subjected to force; optionally, the photovoltaic cleaning robot can be as follows Figure 1 The photovoltaic cleaning robot shown in FIG. Figure 1 When each stress sensor 5 in the photovoltaic cleaning robot shown generates a voltage signal, the method can be performed by Figure 1 The controller 11 in the photovoltaic cleaning robot shown executes, including:

[0068] S401, obtaining the current stress condition of the photovoltaic cleaning robot through the voltage signal generated by each stress sensor.

[0069] S402, determining the current posture of the photovoltaic cleaning robot according to the current force condition.

[0070] S403, selecting a target control strategy corresponding to the current posture from a preset strategy set, and controlling the drive motor according to the target control strategy to adjust the current posture.

[0071] In a possible implementation, determining the current posture of the photovoltaic cleaning robot according to the current force condition includes:

[0072] The relative offset state of the photovoltaic cleaning robot is determined according to the current total force; wherein:

[0073] If the current total force is less than a preset first force threshold, it is determined that the photovoltaic cleaning robot has not generated a relative deviation;

[0074] If the current total force is not less than the first force threshold and not greater than the preset second force threshold, it is determined that the photovoltaic cleaning robot has a relative offset;

[0075] If the current total force is greater than the second force threshold, it is determined that the photovoltaic cleaning robot has a serious deviation.

[0076] The first force threshold and the second force threshold may be determined artificially by those skilled in the art according to actual application conditions (eg, the friction coefficient of the surface of the photovoltaic module, etc.).

[0077] In a possible implementation, the preset policy set includes:

[0078] (1) A first strategy corresponding to no relative offset, wherein the first strategy includes controlling the drive motor to drive the first drive wheel and the second drive wheel to maintain a current rotation speed.

[0079] (2) A second strategy corresponding to the relative offset, wherein the second strategy includes controlling the drive motor to drive the first drive wheel and / or the second drive wheel to adjust the current rotation speed according to the target control strategy, so that the photovoltaic cleaning robot adjusts the current posture under the rotation of the first drive wheel and / or the second drive wheel.

[0080] (3) A third strategy corresponding to severe deviation, wherein the third strategy includes controlling the drive motor to stop driving the first drive wheel or the second drive wheel to rotate, or controlling the drive motor to drive the first drive wheel or the second drive wheel to rotate in the opposite direction of the current drive direction.

[0081] Among them, when the current posture of the photovoltaic cleaning robot does not produce relative deviation, the target control strategy can be selected as the first strategy. When the current posture of the photovoltaic cleaning robot does not produce relative deviation, the target control strategy can be selected as the second strategy. When the current posture of the photovoltaic cleaning robot produces serious deviation, the target control strategy can be selected as the third strategy.

[0082] In a possible implementation, when the target control strategy is the second strategy, controlling the drive motor to adjust the current posture according to the target control strategy includes:

[0083] Determine the offset direction of the photovoltaic cleaning robot according to the current total force;

[0084] Record the cumulative force of the photovoltaic cleaning robot since the relative offset occurs, and calculate the stress integral parameter for the current posture according to the cumulative force and the first force threshold;

[0085] According to the stress integral parameter, the current total force and the preset system parameters, the corresponding attitude control value is obtained, and the control signal for the drive motor is generated according to the attitude control value and the offset direction;

[0086] The control signal is used to control the drive motor to drive the first drive wheel and / or the second drive wheel to adjust the current rotation speed.

[0087] For example, take the photovoltaic cleaning robot as an example, which is offset to the left relative to the photovoltaic module. At this time, assuming that the stress collected by each stress sensor (taking 4 stress sensors as an example) is recorded as: F1, F2, F3, F4, then the expression of the control signal calculated by the controller is as follows:

[0088] S A =S MAX1 -K P *[(F2+F3)-(F1+F4)]+K i *I

[0089] S B =S MAX1

[0090] Among them, S A , S B is the control signal, K P , K i is the preset proportional coefficient and integral coefficient, S MAX1 is the first stress threshold, I is the stress integral parameter, where the expression of I is as follows:

[0091] I=∫[F2+F3-(F1+F4)]-S MAX1

[0092] In this way, the current posture of the photovoltaic cleaning robot is adjusted through the stress integral parameter, so as to avoid the cumulative error generated during the operation and make the posture control more stable.

[0093] See also Figure 5 FIG. 1 is a logic diagram of a photovoltaic cleaning robot control method provided by an embodiment of the present application. When the stress sensor in the photovoltaic cleaning robot generates a voltage signal, the controller performs the following steps:

[0094] S501, synchronously driving the first driving wheel and the second driving wheel.

[0095] S502, obtaining the current stress condition of the photovoltaic cleaning robot through the voltage signal generated by each stress sensor.

[0096] S503, determine whether the current total force is greater than a preset first force threshold, if so, execute S504, otherwise, return to S501.

[0097] S504, determine whether the current total force is greater than a preset second force threshold, if so, execute S505, otherwise, execute S506.

[0098] S505: Control the drive motor according to the third strategy to adjust the current posture.

[0099] S506: Control the drive motor according to the second strategy to adjust the current posture.

[0100] In summary, the control method of the photovoltaic cleaning robot involved in the present application determines the current posture of the photovoltaic cleaning robot by the current force condition, thereby reducing the judgment error of the current posture and facilitating timely adjustment of the current posture.

[0101] See also Figure 6 As shown, it is a structural schematic diagram of an electronic device provided by the present application, and the electronic device includes a processor 601 and a memory 602; the memory 602 stores computer program instructions, and when the computer program instructions are called by the processor 601, the steps of the control method of any photovoltaic cleaning robot mentioned above can be implemented.

[0102] It should be understood that the processor 601 mentioned in the embodiment of the present application may be a CPU, or other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0103] It should also be understood that the memory 602 mentioned in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory, dynamic random access memory, synchronous dynamic random access memory, double data rate synchronous dynamic random access memory, enhanced synchronous dynamic random access memory, synchronous connection dynamic random access memory, and direct memory bus random access memory.

[0104] It should be noted that when the processor 601 is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory 502 (storage module) is integrated into the processor 601.

[0105] The basic concepts have been described above. Obviously, for those skilled in the art, the above invention disclosure is only used as an example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of the present application.

[0106] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0107] Some aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. In addition, various aspects of the present application may be expressed as computer products located in one or more computer-readable media, which include computer-readable program codes. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes ...), optical disks (e.g., compact disks CDs, digital versatile disks DVDs ...), smart cards, and flash memory devices (e.g., cards, sticks, key drives ...).

[0108] A computer-readable medium may include a propagated data signal containing computer program code, such as in baseband or as part of a carrier wave. The propagated signal may have a variety of manifestations, including electromagnetic, optical, etc., or a suitable combination. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium, which may be connected to an instruction execution system, device or apparatus to communicate, propagate or transmit a program for use. The program code on the computer-readable medium may be propagated via any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar medium, or any combination of the above mediums.

[0109] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this application, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0110] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0111] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions may be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the essential spirit of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A photovoltaic cleaning robot, It is characterized in that The photovoltaic cleaning robot includes an electrically connected controller, a drive motor, a first drive wheel, a second drive wheel, and a plurality of stress sensors capable of generating voltage signals when subjected to force. When each stress sensor generates a voltage signal, the controller is configured to perform the following steps: Acquiring the current stress condition of the photovoltaic cleaning robot through the voltage signals generated by the stress sensors; Determining a current posture of the photovoltaic cleaning robot according to the current force condition; A target control strategy corresponding to the current posture is selected from a preset strategy set, and the drive motor is controlled according to the target control strategy to adjust the current posture; wherein: in the process of controlling the drive motor to drive the first drive wheel and / or the second drive wheel to adjust the current speed according to the target control strategy, it includes: Determining the offset direction of the photovoltaic cleaning robot according to the current total force; Record the cumulative force of the photovoltaic cleaning robot since the relative offset occurs, and calculate the stress integral parameter for the current posture according to the cumulative force and the first force threshold, and if the current total force is less than the first force threshold, determine that the photovoltaic cleaning robot has not generated relative offset; Obtaining a corresponding attitude control value according to the stress integral parameter, the current total force and a preset system parameter, and generating a control signal for the drive motor according to the attitude control value and the offset direction; The control signal is used to control the drive motor to drive the first drive wheel and / or the second drive wheel to adjust the current speed; wherein the expression of the stress integral parameter is as follows: I=∫[F2+F3-(F1+F4)]-S MAX1 dt The expression of the control signal is as follows: S A =S MAX1 -K P *[(F2+F3)-(F1+F4)]+K i *I S B =S MAX1 F1, F2, F3, and F4 are the stresses collected by the stress sensors, S A , S B is the control signal, K P , K i is the preset proportional coefficient and integral coefficient, S MAX1 is the first stress threshold, I is the stress integration parameter, and t is the time.

2. The photovoltaic cleaning robot according to claim 1, It is characterized in that The controller is accommodated in the mainboard of the photovoltaic cleaning robot; the photovoltaic cleaning robot has a plurality of rotating wheel structures arranged on both sides of the mainboard, wherein each rotating wheel structure is connected to a corresponding stress sensor.

3. The photovoltaic cleaning robot according to claim 2, It is characterized in that Each stress sensor comprises a metal elastic body connected between a corresponding rotating wheel structure and the main board, and a strain gauge matched with the metal elastic body.

4. The photovoltaic cleaning robot according to claim 1, It is characterized in that The controller is also used for: Control the drive motor to drive the first drive wheel and the second drive wheel to maintain the current rotation speed; or, The driving motor is controlled to stop driving the first driving wheel or the second driving wheel to rotate, or the driving motor is controlled to drive the first driving wheel or the second driving wheel to rotate in the opposite direction of the current driving direction.

5. A control method for a photovoltaic cleaning robot, It is characterized in that The photovoltaic cleaning robot includes an electrically connected drive motor, a first drive wheel, a second drive wheel, and stress sensors capable of generating voltage signals when subjected to force. When the stress sensors generate voltage signals, the method includes: Acquiring the current stress condition of the photovoltaic cleaning robot through the voltage signals generated by the stress sensors; Determining a current posture of the photovoltaic cleaning robot according to the current force condition; From the preset strategy set, a target control strategy corresponding to the current posture is selected, and the drive motor is controlled according to the target control strategy to adjust the current posture; the preset strategy set includes a second strategy corresponding to the relative offset, and the second strategy includes controlling the drive motor to drive the first drive wheel and / or the second drive wheel to adjust the current speed according to the target control strategy; wherein when the target control strategy is the second strategy, it further includes: Determining the offset direction of the photovoltaic cleaning robot according to the current total force; Record the cumulative force of the photovoltaic cleaning robot since the relative offset occurs, and calculate the stress integral parameter for the current posture according to the cumulative force and the first force threshold, and if the current total force is less than the first force threshold, determine that the photovoltaic cleaning robot has not generated relative offset; Obtaining a corresponding attitude control value according to the stress integral parameter, the current total force and a preset system parameter, and generating a control signal for the drive motor according to the attitude control value and the offset direction; The control signal is used to control the drive motor to drive the first drive wheel and / or the second drive wheel to adjust the current speed; wherein the expression of the stress integral parameter is as follows: l=∫[F2+F3-(F1+F4)]-S MAX1 dt The expression of the control signal is as follows: S A =S MAX1 -K P *[(F2+F3)-(F1+F4)]+K i *I S B =S MAX1 F1, F2, F3, and F4 are the stresses collected by the stress sensors, S A , S B is the control signal, K P , K i is the preset proportional coefficient and integral coefficient, S MAX1 is the first stress threshold, I is the stress integration parameter, and t is the time.

6. The method according to claim 5, It is characterized in that The determining the current posture of the photovoltaic cleaning robot according to the current force condition further includes: The relative offset state of the photovoltaic cleaning robot is determined according to the current total force; wherein: If the current total force is not less than the first force threshold and not greater than a preset second force threshold, it is determined that the photovoltaic cleaning robot has a relative offset; If the current total force is greater than the second force threshold, it is determined that the photovoltaic cleaning robot has a serious deviation.

7. The method according to claim 5, It is characterized in that The preset strategy set also includes: Corresponding to a first strategy in which no relative offset is generated, the first strategy includes controlling the drive motor to drive the first drive wheel and the second drive wheel to maintain a current rotation speed; Corresponding to the third strategy for generating severe deviation, the third strategy includes controlling the drive motor to stop driving the first drive wheel or the second drive wheel to rotate, or controlling the drive motor to drive the first drive wheel or the second drive wheel to rotate in the opposite direction of the current drive direction.

8. An electronic device, It is characterized in that It comprises a processor and a memory; the memory stores computer program instructions, and when the computer program instructions are called by the processor, the control method of the photovoltaic cleaning robot as described in any one of claims 5 to 7 can be implemented.

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