Fall prevention method and system for a cleaning robot

Abstract

The application provides a cleaning robot anti-falling method and system. The cleaning robot anti-falling system is used to assist a cleaning robot on an inclined cleaning plane. The cleaning robot anti-falling system comprises an auxiliary robot, a traction rope and a tension sensor. The auxiliary robot is movably arranged at the edge of the cleaning plane. One end of the traction rope is connected to the auxiliary robot, and the other end is connected to the cleaning robot. The tension sensor is used to detect the tension value of the traction rope. When the tension value of the tension sensor is less than or equal to a preset threshold value, at least one end of the traction rope can be retracted and released. When the tension value of the tension sensor is greater than the preset threshold value, both ends of the traction rope can be fixed. The technical problem that the robot is prone to side slipping and falling when cleaning dust, sand and other attachments or obstacles on an inclined smooth photovoltaic panel is solved, and the cleaning coverage rate of the cleaning robot and the planned cleaning path are seriously affected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic panel cleaning, in particular to a cleaning robot anti-falling method and system. BACKGROUND

[0002] Most of the materials of photovoltaic panels are silicon, which can convert solar energy into electricity directly by utilizing the photovoltaic effect of semiconductor materials under light conditions. Photovoltaic panels are installed outdoors, and thus the surface of the panel is prone to accumulate dust or other attachments, which reduces the power generation efficiency of the photovoltaic panel. The surface of the photovoltaic panel usually needs to be cleaned regularly. In order to reduce the cost of manual cleaning and improve the cleaning efficiency, cleaning robots are used to clean the surface of the photovoltaic panel in photovoltaic power stations.

[0003] In order to ensure the power generation efficiency, the photovoltaic panel is usually inclined at an angle relative to the horizontal plane. The robots in the prior art are mostly applied to the surface arranged horizontally, and thus there are many difficulties when they are applied to the inclined photovoltaic surface. When the robot cleans the attachments such as dust and sand on the inclined smooth photovoltaic panel or overcomes the obstacles, it is prone to slide sideways, which seriously affects the cleaning coverage of the cleaning robot and the planned cleaning path. SUMMARY

[0004] The present application provides a cleaning robot anti-falling method and system to solve the technical problem that the robot is prone to slide sideways when it cleans the attachments such as dust and sand on the inclined smooth photovoltaic panel or overcomes the obstacles, which seriously affects the cleaning coverage of the cleaning robot and the planned cleaning path.

[0005] The present application provides a cleaning robot anti-falling system for assisting the cleaning robot on an inclined cleaning plane, which comprises an auxiliary robot, a traction rope and a tension sensor. The auxiliary robot is movably arranged at the edge of the cleaning plane. One end of the traction rope is connected to the auxiliary robot, and the other end is connected to the cleaning robot. The tension sensor is used to detect the tension value of the traction rope. When the tension value of the tension sensor is less than or equal to a preset threshold value, at least one end of the traction rope can be reeled in or out. When the tension value of the tension sensor is greater than the preset threshold value, both ends of the traction rope can be fixed.

[0006] Optionally, the cleaning robot anti-falling system further comprises a wire reel, which is rotatably installed to the cleaning robot and / or the auxiliary robot. One end of the traction rope is wound to the wire reel. When the wire reel rotates, the traction rope is reeled in or out. When the wire reel is limited, the traction rope is fixed.

[0007] Optionally, the anti-falling system of the cleaning robot further comprises a data processing device and a first driving motor, the tension sensor is electrically connected to the data processing device, the first driving motor is directly or indirectly connected to the wire reel and is electrically connected to the data processing device, when the tension value of the tension sensor is less than or equal to a preset threshold value, the data processing device sends a working signal to the first driving motor, so that the first driving motor winds or unwinds the traction rope through the wire reel, and when the tension value of the tension sensor is greater than the preset threshold value, the data processing device sends a shutdown signal to the first driving motor, so that the traction rope is fixed with the wire reel.

[0008] Optionally, the anti-falling system of the cleaning robot further comprises a data processing device and a first positioning device, the tension sensor is electrically connected to the data processing device, and the first positioning device is mounted to the auxiliary robot and is electrically connected to the data processing device, so as to detect the position of the auxiliary robot.

[0009] Optionally, the auxiliary robot comprises a mounting shell, a first roller set and a second roller set, the mounting shell comprises a mounting column, an end of the traction rope is connected to the mounting column, the first roller set is rotatably connected to the mounting shell, the first roller set comprises at least one first roller arranged side by side, and the first roller can be movably pressed against the surface of the cleaning plane, the second roller set is rotatably connected to the mounting shell, the second roller set comprises at least one second roller arranged side by side, and the second roller can be movably pressed against the frame of the cleaning plane, and the central axis of the first roller is perpendicular to the central axis of the second roller.

[0010] Optionally, the auxiliary robot further comprises a track made of an elastic material and sleeved to the outer side of two or more first rollers, the outer surface of the track is concavely provided with two or more grooves, and the grooves are uniformly distributed along the annular center line of the track.

[0011] Optionally, the grooves comprise a first groove and a second groove, the first groove is obliquely formed from the annular center line of the track to the edge thereof, the second groove is communicated to the first groove and is symmetrically formed with the first groove about the annular center line, and the central line of the first groove forms an angle with the central line of the second groove, and the angle is obtuse.

[0012] Correspondingly, the application also provides an anti-falling method of a cleaning robot, comprising the following steps:

[0013] The traction rope is used to connect the cleaning robot and the auxiliary robot, the cleaning robot is arranged on the surface of a cleaning plane, and the auxiliary robot is arranged at the edge of the cleaning plane.

[0014] The cleaning robot is controlled to clean the cleaning surface along a preset path, and the auxiliary robot is controlled to move synchronously along the edge of the cleaning surface or remain stationary.

[0015] The tension value of the traction rope is collected in real time;

[0016] Determine whether the pulling force value is greater than a preset threshold. If yes, both ends of the traction rope are fixed; otherwise, at least one end of the traction rope can be retracted or extended.

[0017] Optionally, before the step of controlling the cleaning robot to clean the cleaning surface along a preset path, the following step is further included:

[0018] Obtain the cleaning direction of the cleaning robot; define the edge of the cleaning plane that is parallel to the cleaning direction and has the largest vertical height as the top edge, and the edge of the cleaning plane that is perpendicular to the cleaning direction as the side edge;

[0019] Real-time acquisition of the positions of the cleaning robot and the auxiliary robot;

[0020] Calculate the shortest distance between the straight line containing the center of the cleaning robot and the straight line containing the center of the auxiliary robot;

[0021] Determine whether the distance is less than a preset distance. If so, control the auxiliary robot or the cleaning robot to deviate by an avoidance distance, and the avoidance distance is greater than or equal to the preset distance.

[0022] Optionally, in the step of controlling the auxiliary robot or the cleaning robot to deviate by an avoidance distance,

[0023] When the cleaning robot approaches the upper edge, the auxiliary robot is controlled to deviate along the side edge by a distance to avoid it.

[0024] When the cleaning robot is near the side edge, control the cleaning robot to shift away from the center of the cleaning plane by a distance.

[0025] Optionally, in the step of controlling the cleaning robot to clean the cleaning surface along a preset path, and controlling the auxiliary robot to move synchronously along the edge of the cleaning surface or remain stationary:

[0026] As the cleaning robot moves near the upper edge, the auxiliary robot is positioned at the side edge and remains stationary relative to the cleaning plane.

[0027] As the cleaning robot moves away from the upper edge, the auxiliary robot is positioned at the upper edge and moves synchronously with the cleaning robot.

[0028] Correspondingly, the application further provides a cleaning device, which comprises a cleaning robot anti-falling system and a cleaning robot.

[0029] Optionally, the wire reel of the cleaning robot anti-falling system is rotatably installed at the center of the cleaning robot.

[0030] Optionally, the cleaning robot comprises a second positioning device and a gyroscope, the second positioning device is electrically connected to the data processing device of the cleaning robot anti-falling system and is used for detecting the position of the cleaning robot, and the gyroscope is electrically connected to the data processing device and is used for detecting the traveling direction of the cleaning robot.

[0031] The application provides a cleaning robot anti-falling method and system. When the cleaning robot slips or falls, the traction rope between the cleaning robot and the auxiliary robot is quickly tightened, so that the tension value borne by the traction rope rapidly increases. At this time, the tension value detected by the tension sensor is greater than the preset threshold value, the tension value of the traction rope has exceeded the set range, the data processing device can determine that the cleaning robot has stalled according to the tension value detected by the tension sensor, and the data processing device controls the two ends of the traction rope to be fixed. Since the auxiliary robot is arranged at the edge of the photovoltaic panel, the traction rope can prevent the cleaning robot from deviating from the preset path and falling from the surface of the photovoltaic panel, which can increase the safety of the cleaning robot during cleaning and assist in controlling the cleaning path of the robot, thereby improving the cleaning efficiency and effect. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0033] Figure 1 is a structural schematic diagram of a cleaning device provided by the application;

[0034] Figure 2 is a structural schematic diagram of an auxiliary robot in a cleaning robot anti-falling system provided by the application;

[0035] Figure 3is a structural schematic diagram of a track of a cleaning robot anti-falling system provided in the application;

[0036] Figure 4 is a structural schematic diagram of a cleaning robot in a cleaning device provided in the application;

[0037] Figure 5 is a circuit schematic diagram in a cleaning device provided in the application;

[0038] Figure 6 is a flow schematic diagram of a cleaning robot anti-falling method provided in the application.

[0039] Legend:

[0040] 100, photovoltaic panel; 110, frame; 200, cleaning robot; 300, auxiliary robot; 310, mounting shell; 311, mounting column; 320, first roller; 330, second roller; 400, track; 410, groove; 411, first groove body; 412, second groove body; 500, wire reel; 600, traction rope. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person skilled in the art without creative work fall within the protection scope of the application. In addition, it should be understood that the specific embodiments described herein are only used to illustrate and explain the application, and are not used to limit the application. In the application, the orientation words such as “upper”, “lower”, “left”, “right” generally refer to the upper, lower, left and right in the actual use or working state of the device, and specifically refer to the drawing surface direction in the drawings.

[0042] The application provides a cleaning robot anti-falling method and system, which will be described in detail below. It should be noted that the description order of the following embodiments is not used to limit the preferred order of the embodiments of the application. In the following embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0043] Please refer to Figure 1The application provides a cleaning device, which comprises a cleaning robot 200 and a cleaning robot anti-falling system, wherein the cleaning robot 200 can travel on the surface of a cleaning plane and clean the dust, sand and other attachments on the cleaning plane. The cleaning plane can be a photovoltaic panel 100 or a panel array composed of the photovoltaic panel 100, or a plane made of glass or other materials. In the embodiment, the cleaning plane is exemplified by the photovoltaic panel 100.

[0044] Referring to Figure 1 The photovoltaic panel 100 comprises a panel and a frame 110, the surface of the photovoltaic panel 100 is a smooth plane, the frame 110 is wrapped around the panel and is slightly higher than the surface of the panel, and the frame 110 is mainly made of metal. The frame 110 made of metal is more convenient for installing and fixing the photovoltaic panel 100 and can assist in determining the position of the cleaning robot 200.

[0045] In order to ensure the power generation efficiency, the photovoltaic panel 100 is designed to be inclined at an angle relative to the horizontal plane. A three-dimensional coordinate system is established on the cleaning robot 200, the cleaning direction of the cleaning robot 200 is defined as the positive direction of the Y axis, the direction perpendicular to the photovoltaic panel 100 is defined as the Z axis direction, and the plane where the X axis and the Y axis are located is parallel to the photovoltaic panel 100.

[0046] Referring to Figure 1 In the application, the preset path of the cleaning robot 200 is as follows: the lower left corner of the photovoltaic panel 100 is set as a navigation starting point, the cleaning robot 200 is controlled to travel in a straight line from the navigation starting point to the upper left corner of the photovoltaic panel 100 and travel to the upper left corner of the photovoltaic panel 100, when the cleaning robot 200 reaches the upper left corner, the cleaning robot 200 is controlled to turn right by 90 degrees, the cleaning robot 200 is controlled to travel in a straight line along the cleaning direction Y to the upper right corner of the photovoltaic panel 100, when the cleaning robot 200 reaches the upper right corner, the cleaning robot 200 is controlled to perform a U-turn to the right and travel in a straight line along the cleaning direction Y, and the surface of the photovoltaic panel 100 is sequentially cleaned according to the above travel path. The above preset path is only used for example, the cleaning robot 200 can clean according to other paths, and thus the above preset path does not limit the protection scope of the application.

[0047] In the application, the edge of the photovoltaic panel 100 which is parallel to the cleaning direction and has the maximum vertical height is defined as the upper edge, that is, the edge formed by the upper left corner and the upper right corner is the upper edge, and the edge of the photovoltaic panel 100 which is perpendicular to the cleaning direction is defined as the side edge, that is, the left edge and the right edge of the photovoltaic panel 100 are both defined as the side edge.

[0048] When the cleaning robot 200 cleans the surface of the photovoltaic panel 100 according to the preset path, the cleaning robot 200 is prone to side slip, deviation, and falling under the action of gravity, causing the cleaning robot 200 to deviate from the preset path. The cleaning robot 200 is arranged on the surface of the photovoltaic panel 100 to assist the cleaning robot 200 to travel on the photovoltaic panel 100 and avoid the cleaning robot 200 from sliding off the photovoltaic panel 100.

[0049] Referring to Figures 1-5 , the anti-falling system of the cleaning robot includes an auxiliary robot 300, a traction rope 600, a data processing device, and a tension sensor. The auxiliary robot 300 is movably arranged at the edge of the photovoltaic panel 100. One end of the traction rope 600 is connected to the auxiliary robot 300, and the other end is connected to the cleaning robot 200. At least one end of the traction rope 600 can rotate relative to the auxiliary robot 300 and the cleaning robot 200, so that at least one end of the traction rope 600 can be freely retracted and extended.

[0050] The tension sensor is electrically connected to the data processing device to detect the tension value of the traction rope 600 in real time. When the cleaning robot 200 cleans the surface of the photovoltaic panel 100 according to the preset path, the auxiliary robot 300 can move synchronously along the frame 110 of the photovoltaic panel 100 or be relatively stationary. At this time, the traction rope 600 arranged between the auxiliary robot 300 and the cleaning robot 200 bears a tension, and since the gravity of the cleaning robot 200 and the known preset path, the tension of the traction rope 600 always changes within a preset range.

[0051] Referring to Figures 1-5 , when the cleaning robot 200 cleans the surface of the photovoltaic panel 100 according to the preset path, and the auxiliary robot 300 moves synchronously along the upper edge of the photovoltaic panel 100, the tension of the traction rope 600 is substantially the same during the travel of the cleaning robot 200 in the cleaning direction. During the turning and U-turn of the cleaning robot 200, the tension of the traction rope 600 increases accordingly. When the cleaning robot 200 cleans the surface of the photovoltaic panel 100 according to the preset path, and the auxiliary robot 300 remains relatively stationary on the side edge of the photovoltaic panel 100, according to the travel speed, travel direction, distance between the cleaning robot 200 and the auxiliary robot 300, and other factors, the tension of the traction rope 600 increases or decreases accordingly. Therefore, when the cleaning robot 200 travels on the surface of the photovoltaic panel 100, the tension of the traction rope 600 increases or decreases accordingly, but always changes within a range.

[0052] When the tension value of the tension sensor is less than or equal to a preset threshold value, the tension value of the traction rope 600 changes within a set range, so that at least one end of the traction rope 600 can be freely wound and unwound to assist the cleaning robot 200 to travel on the photovoltaic panel 100.

[0053] Referring to Figures 1-5 When the cleaning robot 200 slips, falls, or the like, the traction rope 600 between the cleaning robot 200 and the auxiliary robot 300 is quickly pulled tight, so that the tension value borne by the traction rope 600 quickly increases. At this time, the tension value detected by the tension sensor is greater than the preset threshold value, and the tension value of the traction rope 600 has exceeded the set range. The data processing device can determine that the cleaning robot 200 has stalled according to the tension value detected by the tension sensor, and the data processing device controls both ends of the traction rope 600 to be fixed. Since the auxiliary robot 300 is arranged at the edge of the photovoltaic panel 100, the traction rope 600 can be used to avoid the cleaning robot 200 deviating from the preset path and falling from the surface of the photovoltaic panel 100, which can increase the safety of the cleaning robot 200 during cleaning, and can also assist in controlling the cleaning path of the robot, improving the cleaning efficiency and effect.

[0054] Referring to Figures 1-5 The anti-falling system of the cleaning robot further includes a wire reel 500 and a first driving motor electrically connected to the data processing device, and the extension shaft of the first driving motor is directly or indirectly connected to the wire reel 500 to drive the wire reel 500 to rotate and be fixed. The wire reel 500 is rotatably installed on the cleaning robot 200 and / or the auxiliary robot 300, and one end of the traction rope 600 is correspondingly wound on a wire reel 500. The first driving motor can realize winding and unwinding of the traction rope 600 by using the wire reel 500.

[0055] Referring to Figures 1-5 When the cleaning robot 200 and the auxiliary robot 300 are both provided with the wire reel 500 and the first driving motor, the two ends of the traction rope 600 are wound on two wire reels 500, respectively. When the tension value detected by the tension sensor is less than or equal to the above-mentioned preset threshold value, the data processing device sends a working signal to the two first driving motors, respectively, so that the first driving motor can drive the wire reel 500 to rotate, thereby controlling the two ends of the traction rope 600 to be wound and unwound, so that the cleaning robot 200 can clean the surface of the photovoltaic panel 100 according to the preset path.

[0056] When the tension value detected by the tension sensor is greater than the preset threshold value, the data processing device sends a stop signal to the two first driving motors respectively, so that the first driving motors stop rotating, thereby controlling both ends of the traction rope 600 to be fixed, so that the length of the traction rope 600 between the cleaning robot 200 and the auxiliary robot 300 remains unchanged, thereby avoiding the cleaning robot 200 from sliding sideways, falling, and the like.

[0057] Please refer to Figures 1-5 When the cleaning robot 200 is provided with the wire reel 500 and the first driving motor, one end of the traction rope 600 is wound to the wire reel 500, and the other end is fixedly connected to the auxiliary robot 300. When the tension value detected by the tension sensor is less than or equal to the preset threshold value, the data processing device sends a working signal to the first driving motor, so that the first driving motor can drive the wire reel 500 to rotate, thereby controlling the end of the traction rope 600 to be reeled in and out, so that the cleaning robot 200 can clean the surface of the photovoltaic panel 100 according to the preset path.

[0058] When the tension value detected by the tension sensor is greater than the preset threshold value, the data processing device sends a stop signal to the first driving motor, and controls the wire reel 500 to stop rotating by the first driving motor, so that the length of the traction rope 600 between the cleaning robot 200 and the auxiliary robot 300 remains unchanged, thereby avoiding the cleaning robot 200 from sliding sideways, falling, and the like.

[0059] When the auxiliary robot 300 is provided with the wire reel 500 and the first driving motor, the above-mentioned scheme can be referred to, and will not be described here.

[0060] When the cleaning robot 200 is provided with the wire reel 500, the wire reel 500 is rotatably arranged at the center of the cleaning robot 200, so that the tension applied to the cleaning robot 200 by the traction rope 600 can act on the center, so that the cleaning robot 200 is more stable when advancing.

[0061] Please refer to Figure 2 The auxiliary robot 300 includes a mounting shell 310, a first roller set, and a second roller set. An installation column 311 is arranged on the outer surface of the mounting shell 310. One end of the traction rope 600 is connected to the installation column 311, so that the traction rope 600 is fixed relative to the mounting shell 310. Meanwhile, the inside of the mounting shell 310 includes a mounting space, and the first roller set is arranged inside the mounting space. The first roller set and the second roller set are rotatably connected to the mounting shell 310, and the first roller set can advance along the surface of the photovoltaic panel 100, and the second roller set can advance along the frame 110 of the photovoltaic panel 100.

[0062] Please refer to Figure 1 and Figure 2The first roller group includes at least one first roller 320 arranged side by side, the central axes of the plurality of first rollers 320 are parallel to each other, and the first roller 320 can be movably pressed to the surface of the photovoltaic panel 100. The second roller group includes at least one second roller 330 arranged side by side, the central axes of the plurality of second rollers 330 are parallel to each other, and the second roller 330 can be movably pressed to the frame 110 of the photovoltaic panel 100. The central axes of the first roller 320 and the second roller 330 are perpendicular to each other, which can increase the contact area of the auxiliary robot 300 and the photovoltaic panel 100, thereby increasing the stability of the auxiliary robot 300 on the photovoltaic panel 100. When the cleaning robot 200 stalls, slides sideways, or falls, the auxiliary robot 300 can assist the cleaning robot 200 to be fixed relative to the photovoltaic panel 100 through the traction rope 600. One or more second driving motors are arranged in the mounting shell 310, and the first roller 320 and the second roller 330 can be driven by the same second driving motor or by separate second driving motors, which is not specifically limited in the present application.

[0063] Please refer to Figures 1-3 The plurality of first rollers 320 are further sleeved with a track 400. The track 400 is made of elastic material, so that the track 400 has good deformation performance and elastic reset performance. In the present embodiment, the material of the track 400 is preferably elastic rubber or the like. When the auxiliary robot 300 is stationary or moving, the track 400 can increase the contact area of the auxiliary robot 300 and the photovoltaic panel 100, thereby increasing the stability of the auxiliary robot 300 on the photovoltaic panel 100.

[0064] The track 400 includes an upper transmission part and a lower transmission part. The part of the track 400 that is attached to the photovoltaic panel 100 is the lower transmission part, and the remaining part that is not attached to the photovoltaic panel 100 is the upper transmission part. Therefore, the upper transmission part and the lower transmission part in the present application are not specifically limited to a certain section of the track 400, but are limited according to the state of the track 400 when it is moving.

[0065] Please refer to Figures 1-3 The outer surface of the track 400 is recessed with two or more grooves 410, which are uniformly distributed along the annular center line of the track 400. When the track 400 is moving on the surface of the photovoltaic panel 100, the lower transmission part of the track 400 is attached to the surface of the photovoltaic panel 100. At this time, the lower transmission part is extruded and elastically deformed, and the groove 410 formed in the lower transmission part forms a closed cavity with the surface of the photovoltaic panel 100. When the lower transmission part of the track 400 is deformed, the air in the groove 410 is partially extruded, so that a negative pressure state is formed in the cavity, thereby using external gas to press the lower transmission part of the track 400 on the surface of the photovoltaic panel 100.

[0066] The grooves 410 are evenly arranged along the annular center line of the track 400, so that the track 400 can ensure that the grooves 410 and the surface of the photovoltaic panel 100 form a cavity in a negative pressure state at the lower transmission part during the movement of the photovoltaic panel 100, thereby improving the stability of the auxiliary robot 300 when moving on the photovoltaic panel 100.

[0067] Please refer to Figures 1-3 The groove 410 includes a first groove body 411 and a second groove body 412, which are symmetrically arranged about the annular center line, and the center line of the first groove body 411 and the center line of the second groove body 412 form an obtuse angle. The first groove body 411 (or the second groove body 412) is inclined from the annular center line to the edge of the track 400.

[0068] As the track 400 continuously moves, the groove 410 at the edge of the lower transmission part continuously approaches the upper transmission part. The first roller group drives the track 400 to gradually move, so that the groove 410 is relatively moved from the lower transmission part to the upper transmission part of the track 400, and the track 400 at this position gradually separates from the surface of the photovoltaic panel 100. Since the groove 410 is composed of the first groove body 411 and the second groove body 412, and the center line of the first groove body 411 and the center line of the second groove body 412 form an obtuse angle, the edge of the groove 410 is easy to separate from the photovoltaic panel 100.

[0069] When the track 400 crosses the frame 110 or other obstacles, one end of the track 400 passes over the obstacle and is partially lifted, at which time the groove 410 at this position is connected to the external gas, so that the adsorption effect is weakened. However, other positions of the lower transmission part can be pressed on the surface of the photovoltaic panel 100 by using the pressure difference, so as to ensure that the track 400 can be stably and reliably adsorbed on the photovoltaic panel 100, so as to avoid the track 400 from slipping, so that the auxiliary robot 300 of the present application has reliable obstacle crossing ability.

[0070] Please refer to Figures 1-3The first roller group drives the track 400 to travel on the surface of the photovoltaic panel 100, so that the lower driving part of the track 400 can be adsorbed on the photovoltaic panel 100, thereby increasing the stability of the auxiliary robot 300 on the photovoltaic panel 100, so as to facilitate the auxiliary robot 300 to assist the cleaning robot 200 by using the traction rope 600. The second roller group is pressed to the frame 110 of the photovoltaic panel 100, and when the cleaning robot 200 exerts a pulling force on the auxiliary robot 300 through the traction rope 600, the frame 110 can exert a reverse force on the auxiliary robot 300 through the second roller group, so that the auxiliary robot 300 can be stably and firmly arranged on the photovoltaic panel 100, thereby avoiding the cleaning robot 200 from sliding and falling by using the auxiliary robot 300 and the traction rope 600, so that the cleaning robot 200 can always travel along the preset path.

[0071] Please refer to Figures 1-5 Since the first roller group is arranged at the edge of the surface of the photovoltaic panel 100, when the cleaning robot 200 sweeps adjacent to the upper edge of the photovoltaic panel 100, the data processing device can control the auxiliary robot 300 to move to the side edge of the photovoltaic panel 100, thereby avoiding interference between the cleaning robot 200 and the auxiliary robot 300.

[0072] Please refer to Figures 1-5 The auxiliary robot 300 is provided with a first positioning device, and the first positioning device is electrically connected to the data processing device, for detecting the position of the auxiliary robot 300 in real time and sending the position information of the auxiliary robot 300 to the data processing device. The first positioning device can be a camera, a metal sensor, a photoelectric sensor, etc.

[0073] Please refer to Figures 1-5 The cleaning robot 200 is provided with a second positioning device and a gyroscope, and the second positioning device and the gyroscope are electrically connected to the data processing device. The second positioning device is used for detecting the position of the cleaning robot 200 in real time and transmitting the position information of the cleaning robot 200 to the data processing device. The second positioning device can be a camera, a metal sensor, a photoelectric sensor, etc. The gyroscope is used for detecting the traveling direction of the cleaning robot 200 in real time and transmitting the traveling direction information of the cleaning robot 200 to the data processing device.

[0074] Please refer to Figures 1-6 The application also provides a cleaning robot anti-falling method, which specifically comprises the following steps:

[0075] S100, connecting the cleaning robot 200 and the auxiliary robot 300 by using the traction rope 600, the cleaning robot 200 being arranged on the surface of a cleaning plane, and the auxiliary robot 300 being arranged at the edge of the cleaning plane;

[0076] The cleaning robot 200 is provided with a wire reel 500 and a first driving motor, an extension shaft of the first driving motor being directly or indirectly connected to the wire reel 500 to drive the wire reel 500 to rotate. One end of a traction rope 600 is wound on the wire reel 500, and the other end of the traction rope 600 is connected to the auxiliary robot 300.

[0077] S200, obtaining a cleaning direction of the cleaning robot 200; defining an edge with the largest vertical height in a cleaning plane parallel to the cleaning direction as an upper edge, and an edge perpendicular to the cleaning direction in the cleaning plane as a side edge;

[0078] The cleaning robot 200 is provided with a gyroscope, which is used to detect the traveling direction of the cleaning robot 200 in real time. The gyroscope can be an optical fiber gyroscope or a laser gyroscope.

[0079] S300, obtaining the position of the cleaning robot 200 and the position of the auxiliary robot 300 in real time;

[0080] The auxiliary robot 300 is provided with a first positioning device, which is used to detect the position of the auxiliary robot 300 in real time. The first positioning device can be a camera, a metal sensor, a photoelectric sensor, etc. The cleaning robot 200 is provided with a second positioning device, which is used to detect the position of the cleaning robot 200 in real time. The second positioning device can be a camera, a metal sensor, a photoelectric sensor, etc.

[0081] S400, calculating the shortest distance between a straight line where the center of the cleaning robot 200 is located and a straight line where the center of the auxiliary robot 300 is located;

[0082] The distance between the center of the cleaning robot 200 and the center of the auxiliary robot 300 in the X-axis direction and the Y-axis direction is calculated, and the shortest distance is selected.

[0083] S500, determining whether the distance is less than a preset distance. If yes, controlling the auxiliary robot 300 or the cleaning robot 200 to deviate by an avoidance distance, and the avoidance distance is greater than or equal to the preset distance;

[0084] The appropriate preset distance is selected according to the size and position of the auxiliary robot 300, the size and position of the cleaning robot 200, the traveling direction of the cleaning robot 200, and the preset path, etc. When the distance between the center of the cleaning robot 200 and the center of the auxiliary robot 300 is greater than or equal to the preset distance, the cleaning robot 200 and the auxiliary robot 300 will not collide or interfere with each other.

[0085] When the cleaning robot 200 is adjacent to the upper edge, the auxiliary robot 300 is controlled to deviate from the side edge by a distance of avoidance; when the cleaning robot 200 cleans the surface of the upper edge of the photovoltaic panel 100, the auxiliary robot 300 on the side edge will not collide with or interfere with the cleaning robot 200, so as to ensure that the cleaning robot 200 can travel along the preset path.

[0086] When the cleaning robot 200 is adjacent to the side edge, the cleaning robot 200 is controlled to deviate from the center of the cleaning plane by a distance of avoidance. When the cleaning robot 200 cleans the surface adjacent to the upper edge of the photovoltaic panel 100 and turns to clean the surface of the next row, after the cleaning robot 200 completes the U-turn, the auxiliary robot 300 moves along the side edge of the photovoltaic panel 100 to the upper edge and gradually moves to the upper of the cleaning robot 200, so that the cleaning robot 200 can move synchronously with the auxiliary robot 300. Thus, in order to avoid the auxiliary robot 300 from colliding with or interfering with the cleaning robot 200 during the movement to the upper edge, the data processing device controls the cleaning robot 200 to deviate from the center of the cleaning plane by a distance of avoidance.

[0087] S600, control the cleaning robot 200 to clean the cleaning plane along the preset path, and control the auxiliary robot 300 to move synchronously along the edge of the cleaning plane or remain stationary;

[0088] When the cleaning robot 200 travels adjacent to the upper edge, the auxiliary robot 300 is arranged on the side edge and is relatively stationary with the cleaning plane;

[0089] When the cleaning robot 200 travels away from the upper edge, the auxiliary robot 300 is arranged on the upper edge and moves synchronously with the cleaning robot 200.

[0090] S700, real-time acquisition of the tension value of the traction rope 600;

[0091] The anti-falling system of the cleaning robot comprises a tension sensor, which can detect the tension value of the traction rope 600 in real time and transmit the tension value to the data processing device.

[0092] S800, judging whether the tension value is greater than a preset threshold value, if yes, both ends of the traction rope 600 are fixed, if not, at least one end of the traction rope 600 can be retracted and extended;

[0093] When the cleaning robot 200 slips, falls or the like, the traction rope 600 arranged between the cleaning robot 200 and the auxiliary robot 300 will be quickly pulled tight, so that the tension value borne by the traction rope 600 rapidly increases. At this time, the tension value detected by the tension sensor is greater than the preset threshold value, the tension value of the traction rope 600 has exceeded the set range, and the data processing device can determine that the cleaning robot 200 has stalled according to the tension value detected by the tension sensor. At the same time, the data processing device controls both ends of the traction rope 600 to be fixed. Since the auxiliary robot 300 is arranged at the edge of the photovoltaic panel 100, the traction rope 600 can avoid the cleaning robot 200 deviating from the preset path and falling from the surface of the photovoltaic panel 100, which can increase the safety of the cleaning robot 200 during cleaning, and can also assist in controlling the cleaning path of the robot, improving the cleaning efficiency and effect.

[0094] The above describes in detail the cleaning robot anti-falling method and system provided by the present application. The principles and implementation modes of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A cleaning robot anti-falling system for assisting a cleaning robot (200) on an inclined cleaning surface, characterized in that, The cleaning robot anti-falling system comprises: an auxiliary robot (300) movably arranged at the edge of the cleaning plane; a traction rope (600) having one end connected to the auxiliary robot (300) and the other end connected to the cleaning robot (200); a wire reel (500) rotatably installed to the cleaning robot (200) and / or the auxiliary robot (300), and one end of the traction rope (600) being wound to the wire reel (500); when the wire reel (500) rotates, the traction rope (600) is reeled in and out, and when the wire reel (500) is limited, the traction rope (600) is fixed; a data processing device, the tension sensor being electrically connected to the data processing device; and a first driving motor directly or indirectly connected to the wire reel (500) and electrically connected to the data processing device; when the tension value of the tension sensor is less than or equal to a preset threshold value, the data processing device sends a working signal to the first driving motor, so that the first driving motor reels in and out the traction rope (600) through the wire reel (500); when the tension value of the tension sensor is greater than the preset threshold value, the data processing device sends a shutdown signal to the first driving motor, so that the traction rope (600) and the wire reel (500) are fixed; a first positioning device installed to the auxiliary robot (300) and electrically connected to the data processing device, for detecting the position of the auxiliary robot (300); and a tension sensor for detecting the tension value of the traction rope (600); when the tension value of the tension sensor is less than or equal to a preset threshold value, at least one end of the traction rope (600) can be reeled in and out; when the tension value of the tension sensor is greater than the preset threshold value, both ends of the traction rope (600) can be fixed.

2. The cleaning robot fall-prevention system of claim 1, wherein, The auxiliary robot (300) comprises: a mounting shell (310) comprising a mounting column (311), the end of the traction rope (600) being connected to the mounting column (311); a first roller set rotatably connected to the mounting shell (310), the first roller set comprising at least one first roller (320) arranged side by side, the first roller (320) being capable of being movably pressed against the surface of the cleaning plane; and a second roller set rotatably connected to the mounting shell (310), the second roller set comprising at least one second roller (330) arranged side by side, the second roller (330) being capable of being movably pressed against the frame (110) of the cleaning plane; wherein the central axis of the first roller (320) is perpendicular to the central axis of the second roller (330).

3. The cleaning robot fall-prevention system of claim 2, wherein, The auxiliary robot (300) further comprises: a track (400) made of elastic material and sleeved to the outer side of two or more first rollers (320). The outer surface of the track (400) is concavely provided with two or more grooves (410), and the grooves (410) are uniformly distributed along the annular center line of the track (400).

4. The cleaning robot fall-prevention system of claim 3, wherein, The grooves (410) comprise: a first groove body (411) which is obliquely opened at the annular center line of the track (400) to the edge thereof; and a second groove body (412) which is symmetrically opened with the first groove body (411) about the annular center line and is communicated to the first groove body (411); wherein the center line of the first groove body (411) and the center line of the second groove body (412) form an angle, and the angle is obtuse.

5. A fall-prevention method of a cleaning robot based on the fall-prevention system of any one of claims 1 to 4, characterized by, The method comprises the steps of: connecting a cleaning robot (200) and an auxiliary robot (300) by a traction rope (600), the cleaning robot (200) being arranged on the surface of a cleaning plane, and the auxiliary robot (300) being arranged on the edge of the cleaning plane; controlling the cleaning robot (200) to clean the cleaning plane along a preset path, and controlling the auxiliary robot (300) to move synchronously along the edge of the cleaning plane or to remain stationary; real-time acquisition of the tension value of the traction rope (600); determination of whether the tension value is greater than a preset threshold value, if yes, both ends of the traction rope (600) are fixed, and if no, at least one end of the traction rope (600) can be retracted and extended. 6.The method of claim 5, wherein, Before the step of controlling the cleaning robot (200) to clean the cleaning plane along a preset path, the method further comprises the steps of: obtaining the cleaning direction of the cleaning robot (200); defining the edge of the cleaning plane which is parallel to the cleaning direction and has the maximum vertical height as the upper edge, and the edge of the cleaning plane which is perpendicular to the cleaning direction as the side edge; real-time acquisition of the position of the cleaning robot (200) and the position of the auxiliary robot (300); calculation of the shortest distance between the straight line where the center of the cleaning robot (200) is located and the straight line where the center of the auxiliary robot (300) is located; determination of whether the distance is less than a preset distance, if yes, controlling the auxiliary robot (300) or the cleaning robot (200) to deviate by an avoidance distance, and the avoidance distance is greater than or equal to the preset distance. 7.The method of claim 6, wherein, In the step of controlling the auxiliary robot (300) or the cleaning robot (200) to deviate by an avoidance distance, when the cleaning robot (200) is adjacent to the upper edge, controlling the auxiliary robot (300) to deviate by an avoidance distance along the side edge; when the cleaning robot (200) is adjacent to the side edge, controlling the cleaning robot (200) to deviate by an avoidance distance towards the center of the cleaning plane. 8.The method of claim 6, wherein, In the step of controlling the cleaning robot (200) to clean the cleaning plane along a preset path, and controlling the auxiliary robot (300) to move synchronously along the edge of the cleaning plane or to remain stationary, when the cleaning robot (200) travels adjacent to the upper edge, the auxiliary robot (300) is arranged on the side edge and is relatively stationary with the cleaning plane; When the cleaning robot (200) travels away from the upper edge, the auxiliary robot (300) is arranged at the upper edge and moves synchronously with the cleaning robot (200).

9. A cleaning apparatus, characterized by Comprise: The cleaning robot anti-falling system according to any one of claims 1-4 is arranged at the edge of the cleaning plane; And The cleaning robot (200) is arranged on the surface of the cleaning plane; Two ends of the traction rope (600) are connected to the cleaning robot (200) and the auxiliary robot (300) respectively, when the cleaning robot (200) sweeps the surface of the cleaning plane along the preset path, the auxiliary robot (300) moves synchronously along the edge of the cleaning plane or remains stationary.

10. The cleaning device according to claim 9, characterized in that, The wire reel (500) of the cleaning robot anti-falling system is rotatably installed at the center of the cleaning robot (200).

11. The cleaning apparatus of claim 9, wherein, The cleaning robot (200) comprises: A second positioning device electrically connected to the data processing device of the cleaning robot anti-falling system and used for detecting the position of the cleaning robot (200); and A gyroscope electrically connected to the data processing device and used for detecting the traveling direction of the cleaning robot (200).

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