Photovoltaic suspension cleaning robot posture adjustment method, device and electronic equipment

Abstract

The present invention provides a method, device and electronic device for adjusting the posture of a photovoltaic suspension cleaning robot, wherein the adjustment method comprises: obtaining the real-time coordinates of two optical flow sensors of the robot, the two optical flow sensors being located at both ends of the robot; calculating the operating state of the robot according to the real-time coordinates of the two optical flow sensors, wherein the operating state includes the movement speed and tilt angle of the robot; adjusting the operating speed of the driving motor of the robot according to the tilt angle, so that the posture of the robot is restored to a normal state. The present invention improves the accuracy, real-time performance and stability of adjusting the posture of the robot, and also has a strong anti-interference ability.

Description

Technical Field

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

[0002] Solar energy is an important renewable energy source and has become a key energy source for clean energy applications. With the continuous development of photovoltaic power generation technology, photovoltaic tracking power generation systems have been widely used. However, photovoltaic tracking systems are mostly set up in desolate and open areas, where strong winds, dust and other weather conditions often occur, which can easily cause photovoltaic modules to be covered with dust, which has a significant impact on power generation. Therefore, it is necessary to introduce a device that can clean / clean photovoltaic modules, such as a suspended cleaning robot (referred to as a robot).

[0003] During the operation of the robot, the robot's movement position and posture (i.e., position) and the adjustment of abnormal posture are particularly important for the normal operation of the entire cleaning system. Due to the different friction between the upper and lower pairs of rollers, the different surface conditions of the photovoltaic panels on which they are traveling, and the possible slight differences in the motor drive, the robot will inevitably have different running speeds at the upper and lower ends, which may cause the robot to tilt too much or even get stuck. In severe cases, it may also cause damage to the robot's motor or even the bracket.

[0004] At present, there are mainly the following methods for robot posture detection: motor current detection method, vertical distance detection method and inclination sensor detection method. The motor current detection method is used to detect the driving current of the motors at the upper and lower ends at the same time to determine whether the robot movement is normal or not. This method belongs to the lagging passive posture adjustment. The corresponding correction will only be triggered when the robot has tilted. Therefore, under undesirable conditions, the robot will run in a high-frequency correction mode. The vertical distance detection method is used to hang a swing arm naturally perpendicular to the ground and equipped with a distance measurement module at the bottom of the robot. The posture and tilt direction of the robot are judged according to the tilt direction of the swing arm for adjustment. The parameters given by this method are not stable enough. During the cleaning process, the swing arm may swing irregularly, which will cause great interference to the posture judgment. The inclination sensor detection method is used to read the current robot tilt angle and geomagnetic angle through the inclination sensor. By comparing with the parameters in the normal state, the posture and tilt direction of the robot are obtained. However, the sensitivity of the inclination sensor is affected by many external factors, such as whether there is a strong magnetic field or metal objects around, and the sensor needs to be calibrated regularly.

[0005] It can be seen that the existing implementation methods of judging and adjusting the robot's posture state still have some shortcomings in terms of accuracy and real-time performance. These implementation methods are not sufficient to effectively control or adjust the robot's posture state during the cleaning process. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a method, device and electronic equipment for adjusting the posture of a photovoltaic suspended cleaning robot to improve the accuracy, real-time performance and stability of adjusting the posture of the robot, while also having strong anti-interference ability.

[0007] To solve the above technical problems, in the first aspect, the present invention provides a method for adjusting the posture of a photovoltaic suspended cleaning robot, comprising: obtaining the real-time coordinates of two optical flow sensors of the robot, wherein the two optical flow sensors are located at both ends of the robot; calculating the operating state of the robot according to the real-time coordinates of the two optical flow sensors, wherein the operating state includes the movement speed and tilt angle of the robot; adjusting the operating speed of the driving motor of the robot according to the tilt angle to restore the posture of the robot to a normal state.

[0008] Optionally, the step of acquiring the real-time coordinates of the two optical flow sensors of the robot further includes: filtering special areas of the photovoltaic assembly, wherein the special areas include gaps and edges of the photovoltaic assembly.

[0009] Optionally, before acquiring the real-time coordinates of the two optical flow sensors of the robot, the method further includes: performing posture initialization calibration on the two optical flow sensors at the robot's cleaning starting position.

[0010] Optionally, in the step of calculating the running state of the robot according to the real-time coordinates of the two optical flow sensors, calculating the tilt angle includes: calculating the tilt degree of the current posture of the robot relative to the posture of the robot when it is initialized and calibrated.

[0011] Optionally, adjusting the operating speed of the driving motor of the robot further includes: reducing the operating speed of the driving motor at one end of the robot and / or increasing the operating speed of the driving motor at the other end of the robot.

[0012] Optionally, adjusting the operating speed of the driving motor of the robot according to the inclination angle also includes: if the inclination angle is greater than a first reference angle, reversing the driving motor at one end of the robot, wherein the first reference angle is the maximum inclination angle at which the robot can maintain movement.

[0013] Optionally, the first reference angle is an inclination angle that causes a driving motor of the robot to just stall.

[0014] Optionally, it also includes: judging whether the inclination angle is greater than a second reference angle, wherein the second reference angle is the minimum inclination angle required to adjust the robot posture; adjusting the operating speed of the robot's drive motor according to the inclination angle includes: adjusting the operating speed of the robot's drive motor when the inclination angle is greater than the second reference angle.

[0015] Optionally, the method further includes: detecting and judging by ultrasonic wave whether the robot has scanned the edge of the photovoltaic module.

[0016] Optionally, the method further includes: when the robot scans the edge of the photovoltaic component, stopping the robot from moving or causing the robot to move in the reverse direction.

[0017] In the second aspect, the present invention provides a photovoltaic suspended cleaning robot posture adjustment device, comprising: an acquisition module, used to acquire the real-time coordinates of two optical flow sensors of the robot, wherein the two optical flow sensors are located at both ends of the robot; a calculation module, used to calculate the operating state of the robot according to the real-time coordinates of the two optical flow sensors, wherein the operating state includes the movement speed and tilt angle of the robot; an adjustment module, used to adjust the operating speed of the driving motor of the robot according to the tilt angle, so that the posture of the robot is restored to a normal state.

[0018] In a third aspect, the present invention provides an electronic device comprising: a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the photovoltaic suspended cleaning robot posture adjustment method as described in the first aspect are implemented.

[0019] In a fourth aspect, the present invention provides a readable storage medium storing a program or instruction, which, when executed by a processor, implements the steps of the method for adjusting the posture of a photovoltaic suspended cleaning robot as described in the first aspect.

[0020] Compared with the prior art, the present invention has the following advantages: first, the real-time coordinates of the two optical flow sensors of the robot are obtained, the two optical flow sensors are located at both ends of the robot, and then the operating state of the robot is calculated according to the real-time coordinates of the two optical flow sensors, wherein the operating state includes the movement speed and tilt angle of the robot, and finally the operating speed of the driving motor of the robot is adjusted according to the tilt angle to restore the posture of the robot to a normal state, thereby improving the accuracy, real-time performance and stability of adjusting the posture of the robot, and also having a strong anti-interference ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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:

[0022] Figure 1 It is a schematic flow chart of a method for adjusting the posture of a photovoltaic suspension cleaning robot in one embodiment of the present invention;

[0023] Figure 2 This is a diagram showing the robot's movement process and tilting in one embodiment of the present invention;

[0024] Figure 3 is another flow chart of a method for adjusting the posture of a photovoltaic suspension cleaning robot in one embodiment of the present invention;

[0025] Figure 4 is another flow chart of a method for adjusting the posture of a photovoltaic suspension cleaning robot in one embodiment of the present invention;

[0026] Figure 5 It is another flow chart of a method for adjusting the posture of a photovoltaic suspension cleaning robot in one embodiment of the present invention;

[0027] Figure 6 It is a structural schematic diagram of a photovoltaic suspension type cleaning robot posture adjustment device in one embodiment of the present invention;

[0028] Figure 7 FIG. 4 is a schematic diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Flowcharts are used in the present application 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.

[0033] Embodiment 1

[0034] Figure 1 is a flow chart of a method for adjusting the posture of a photovoltaic suspension cleaning robot in one embodiment of the present invention, with reference to Figure 1 As shown, method 100 includes: S110, obtaining the real-time coordinates of two optical flow sensors of the robot, wherein the two optical flow sensors are located at two ends of the robot, often close to the edges of the photovoltaic modules respectively; S120, calculating the operating state of the robot according to the real-time coordinates of the two optical flow sensors, wherein the operating state includes the movement speed and tilt angle of the robot; S130, adjusting the operating speed of the driving motor of the robot according to the tilt angle to restore the posture of the robot to a normal state.

[0035] Whether due to the robot's own reasons or other external reasons, it is impossible for the robot to always maintain the ideal cleaning posture to clean the photovoltaic panels. There will inevitably be situations where the robot tilts or deviates from the original cleaning posture. Therefore, adjusting the robot's posture is an important means to ensure its normal operation for a long time.

[0036] An optical flow sensor is a sensor that uses a camera to continuously take pictures to capture the motion information of an object. This sensor can track and calculate the movement of a camera or robot in a scene, and infer the motion trajectory of the object by calculating the continuously changing image. In each frame of the image, the relative displacement of the object in the image is obtained by calculating the brightness change between adjacent pixels, and the relative speed is calculated to obtain the motion information of the object. Since the optical flow sensor relies on the brightness change between adjacent pixels, it works best when there is sufficient light and the movement speed is not too fast. The method of this embodiment uses an optical flow sensor as a sensing device, which can meet the requirements of high-speed and high-precision tracking, so as to accurately and real-time obtain the position and posture state of the robot, and provide strong support for timely adjustment of the robot's position and posture.

[0037] In this embodiment, an optical flow sensor is used as a sensing device, which can output accurate real-time coordinates and even motion trajectory according to the starting position, with a range accuracy of up to 0.01mm, providing high-precision, high-real-time and easy-to-process parameters for robot posture judgment.

[0038] Figure 2 is a diagram showing the robot's movement process and tilt in one embodiment of the present invention, with reference to Figure 2 As shown in the figure, the optical flow sensing module (i.e., optical flow sensor) A and the optical flow sensing module B are respectively located at the upper and lower ends of the robot. At the initial position (position 1), the robot is in a normal state without offset or tilt. In the XY coordinate system, the position of the optical flow sensing module A is represented as (0, Y1), and the position of the optical flow sensing module B is represented as (0, 0). It can be seen that on the X-axis, that is, the extension direction of the main beam (component installation direction), the optical flow sensing module A and the optical flow sensing module B are in the same horizontal position, and on the Y-axis, the height of the optical flow sensing module A relative to the optical flow sensing module B is Y1. When the robot runs for a period of time and reaches position 2, at this time, if the robot does not tilt, the height of the optical flow sensing module A relative to the optical flow sensing module B is still Y1, and the robot moves a distance X1 on the X-axis at the same time. Therefore, the current position of the optical flow sensing module A is represented as (X1, Y1), and the position of the optical flow sensing module B is marked as (X1, 0). Of course, this situation is the most ideal situation, not the norm.

[0039] Another common situation is that the robot will tilt, such as the situation shown in position 3. At this time, on the X-axis, the distances moved by the optical flow sensing module A and the optical flow sensing module B are different, and there is a certain deviation. On the Y-axis, because the robot is tilted, the height difference between the optical flow sensing module A and the optical flow sensing module B also changes. If the position of the optical flow sensing module A is represented by (X2, Y2) and the position of the optical flow sensing module B is represented by (X3, Y3), then X2≠X3, Y3-Y2≠Y1. These two parameters can be used to simply and accurately determine whether the robot is tilted. If tilting occurs, the operating speed of the robot's drive motor is adjusted according to the tilt angle to restore the robot's posture to a normal state. For example, taking the robot shown in position 3 as an example, the operating speed of the upper drive motor is slowed down. After a period of time, the distance moved by the upper optical flow sensing module A on the X-axis is less than the distance moved by the lower optical flow sensing module B on the X-axis, so that the cleaning robot returns to a normal posture state.

[0040] The method of this embodiment obtains real-time coordinates through an optical flow sensor, can output stable and reliable current coordinates, is less affected by the robot's motion state and surrounding environment, and has strong anti-interference ability and high environmental adaptability.

[0041] In one example, in the step of obtaining the real-time coordinates of the two optical flow sensors of the robot, it is necessary to filter the special areas of the photovoltaic module, wherein the special areas include the gaps and edges of the photovoltaic module. The method of this embodiment needs to keep the robot in the effective position of the photovoltaic module. When the entire photovoltaic module is composed of multiple photovoltaic modules connected, there are special areas such as gaps between photovoltaic modules. In order to ensure the accuracy of the collected robot posture data, it is necessary to filter out these special areas of the photovoltaic modules to more accurately judge the posture state of the robot. This embodiment can effectively judge the gaps between photovoltaic modules, the edges of modules, etc., greatly improving the accuracy and stability of the adjustment method of this embodiment.

[0042] Figure 3 is another flow chart of a method for adjusting the posture of a photovoltaic suspension cleaning robot in one embodiment of the present invention, with reference to Figure 3 As shown, before obtaining the real-time coordinates of the two optical flow sensors of the robot, the method 100 may further include: S310, performing initialization calibration of the postures of the two optical flow sensors at the cleaning starting position of the robot.

[0043] Still refer to Figure 2As shown in the figure, position 1 is used as the starting position of the robot. At the starting position of the robot cleaning, the optical flow sensing module A and the optical flow sensing module B are initialized and calibrated respectively. The optical flow sensing module B below is used as the origin of the two-dimensional coordinate system. The optical flow sensing module A and the optical flow sensing module B are represented as (0, Y1) and (0, 0) respectively. Based on this initial calibration value, it is convenient to calculate the robot posture and judge whether the robot is tilted.

[0044] In one example, in the step of calculating the running state of the robot according to the real-time coordinates of the two optical flow sensors, calculating the tilt angle may be calculating the tilt degree of the current posture of the robot relative to the posture of the robot during initialization calibration.

[0045] refer to Figure 2 As shown, in the ideal operation process, after the robot runs for a period of time, as shown in position 2, the optical flow sensing module A and the optical flow sensing module B remain parallel in real time on the Y axis (a certain range of difference is allowed, and the range needs to be obtained through actual testing). When the robot posture tilts as shown in position 3 due to differences in motor drive and other reasons, the output coordinates of the optical flow sensing module A and the optical flow sensing module B are (X2, Y2) and (X3, Y3), respectively. The two points will have a large difference in the Y axis coordinates from the normal operation state, and the two points will no longer remain synchronized on the X axis coordinates. The difference between the two is △Y1=Y2-Y3, △X1=X2-X3, and the robot's tilt angle ∠A can be obtained through the trigonometric function tan∠A=△X1 / △Y1.

[0046] In one example, adjusting the operating speed of the driving motor of the robot may also be to reduce the operating speed of the driving motor at one end of the robot and / or increase the operating speed of the driving motor at the other end of the robot.

[0047] Still refer to Figure 2 As shown, if the current state of the robot is to be restored to a normal state, that is, a non-tilted state, the upper drive motor can be slowed down. After a period of time, the distance moved by the upper optical flow sensing module A on the X-axis is less than the distance moved by the lower optical flow sensing module B on the X-axis, so that the robot returns to a normal posture state. Alternatively, the lower drive motor can be made to run faster, or the upper drive motor can be slowed down while the lower drive motor is running faster. After the robot runs for a period of time, the distance moved by the upper optical flow sensing module A on the X-axis is less than the distance moved by the lower optical flow sensing module B on the X-axis, and the robot returns to a normal posture state.

[0048] In one example, adjusting the running speed of the driving motor of the robot according to the tilt angle may also be to reverse the driving motor at one end of the robot if the tilt angle is greater than a first reference angle, wherein the first reference angle is the maximum tilt angle at which the robot can maintain movement. Further, the first reference angle is the tilt angle that causes the driving motor of the robot to just reach stall.

[0049] In general, when the robot has a certain tilt angle, the robot is restored to a normal state by the adjustment method of this embodiment. However, sometimes, monitoring finds that the tilt angle of the robot is too large, and it is difficult to ensure the safe operation of the robot according to the above-mentioned slow recovery method, so it is necessary to adopt a fast recovery method. When the robot is first deployed, the tilt angle (first reference angle, stall angle) of the robot that just causes the motor to stall can be obtained through limit testing. Of course, in the case where the tilt angle is greater than the stall angle, a fast recovery method should be used to avoid untimely adjustment that damages the photovoltaic module or the robot itself.

[0050] When the current tilt angle is greater than or equal to the stall angle, it means that the robot is stuck. Figure 2 In position 3, if the tilt angle ∠A is greater than or equal to the stall angle, the upper drive motor may continue to drive, which may cause the drive current to increase sharply and burn out the drive motor. At this time, the upper drive motor needs to be reversed to quickly restore to normal state.

[0051] In one implementation of this embodiment, if the tilt angle does not reach the stall angle, the travel speed of the upper drive motor can be appropriately slowed down or the travel speed of the lower drive motor can be accelerated according to the size of the tilt angle (which is proportional to the overshoot of the upper drive motor compared to the lower drive motor), thereby restoring the robot to a normal state.

[0052] Figure 4 is another flow chart of a method for adjusting the posture of a photovoltaic suspension cleaning robot in one embodiment of the present invention, with reference to Figure 4 As shown, the method 100 may further include: S410, determining whether the tilt angle is greater than a second reference angle, wherein the second reference angle is the minimum tilt angle for adjusting the robot posture. At this time, adjusting the operating speed of the robot's drive motor according to the tilt angle means adjusting the operating speed of the robot's drive motor when the tilt angle is greater than the second reference angle.

[0053] In this embodiment, it is normal for the robot to be in a tilted state during operation. On the one hand, if the robot posture is adjusted accordingly as long as the robot is tilted, it is bound to cause the adjustment method of this embodiment to intervene in the operation of the robot too frequently. In the case of too frequent intervention, the movement of the drive motor will often be in a changing state, affecting its service life. On the other hand, during the robot cleaning process, although there is a certain tilt angle, as long as the tilt angle is not too large, the robot can still effectively clean the photovoltaic module. Based on the above actual situation, the method of this embodiment sets the minimum tilt angle (second reference angle) for adjusting the robot posture. If the robot tilt angle is less than the second reference angle, the robot posture can be adjusted without adjusting the robot, and the robot can continue to clean, and its cleaning function will not have a substantial adverse effect due to the smaller inclination; if the robot's current tilt angle is greater than the second reference angle, if the robot posture is not intervened at this time, the tilt angle will gradually increase, so as to affect the safety of the robot operation, so it is necessary to adjust the robot's posture to avoid the robot being unable to perform cleaning work normally.

[0054] It is understandable that in actual application scenarios, due to the influence of various objective factors, it is difficult for the upper and lower tires (or rollers) of the robot to maintain completely synchronized rolling speeds. Therefore, during the operation of the robot, its posture will alternate between a tilted state and a normal state, and the robot maintains dynamic balance.

[0055] Figure 5 This is another flow chart of a method for adjusting the posture of a photovoltaic suspension cleaning robot in one embodiment of the present invention, referring to Figure 5 As shown, the method 100 may further include: S510, detecting and determining by ultrasonic wave whether the robot has scanned the edge of the photovoltaic assembly.

[0056] In this embodiment, the optical flow sensor compares the pixel offset of two adjacent frames of images within a certain time interval, and the optical flow sensor has a preset focal length. Therefore, when the target object is too far away, the camera in the optical flow sensor cannot obtain a valid image, and thus cannot output relative coordinates. When the robot is cleaning, the optical flow sensor moves from the surface component to the component gap, and the optical flow sensor itself will not output any valid coordinates. Then, when the optical flow sensor moves from the gap to the component surface, the output coordinates will be a continuation of the previous coordinates. Therefore, the component gap can be effectively filtered to avoid affecting its own posture judgment. In view of the above situation, additional components are required to determine whether the robot has scanned the edge of the photovoltaic component to ensure the safety of the robot and the photovoltaic component. In this embodiment, the above purpose can be achieved through an ultrasonic module. Exemplarily, the optical flow sensor can be equipped with an ultrasonic module, and a limit baffle higher than the surface of the bracket will also be installed at the edge of the bracket. When the ultrasonic module moves with the robot to the top of the limit baffle, and the optical flow sensing module runs to the edge of the component, the ultrasonic module detects that the distance between the photovoltaic component and the optical flow sensor no longer has normal coordinate output, which means that the robot has run to the edge of the component. It can be understood that the ultrasonic module can also be a separately arranged component, which is arranged on the robot separately from the optical flow sensor.

[0057] In one example, the method 100 may further include: S520, when the robot scans the edge of the photovoltaic component, stopping the robot from moving or causing the robot to move in the opposite direction, thereby ensuring the driving safety of the robot.

[0058] The photovoltaic suspended cleaning robot posture adjustment method provided in this embodiment first obtains the real-time coordinates of the two optical flow sensors of the robot, which are located at both ends of the robot, and then calculates the operating state of the robot based on the real-time coordinates of the two optical flow sensors, where the operating state includes the movement speed and tilt angle of the robot. Finally, the operating speed of the robot's drive motor is adjusted according to the tilt angle to restore the robot's posture to a normal state, thereby improving the accuracy, real-time performance, and stability of adjusting the robot's posture, and also having a strong anti-interference ability.

[0059] Embodiment 2

[0060] Figure 6 is a schematic diagram of the structure of a photovoltaic suspension cleaning robot posture adjustment device in one embodiment of the present invention, with reference to Figure 6 As shown, the device 600 mainly includes:

[0061] An acquisition module 601 is used to acquire the real-time coordinates of the two optical flow sensors of the robot, wherein the two optical flow sensors are located at both ends of the robot; a calculation module 602 is used to calculate the operating state of the robot according to the real-time coordinates of the two optical flow sensors, wherein the operating state includes the movement speed and tilt angle of the robot; an adjustment module 603 is used to adjust the operating speed of the driving motor of the robot according to the tilt angle to restore the posture of the robot to a normal state.

[0062] In an example, the acquisition module 601 may further include filtering a special area of ​​the photovoltaic assembly, wherein the special area includes a gap and an edge of the photovoltaic assembly.

[0063] In one example, the device 600 shown may further include an initialization module, which is used to perform initialization calibration of the posture of the two optical flow sensors at the robot's cleaning starting position before acquiring the real-time coordinates of the two optical flow sensors of the robot.

[0064] In one example, the calculation module 602 may further include calculating the degree of inclination of the current posture of the robot relative to the posture of the robot during initialization calibration.

[0065] In one example, the adjustment module 603 may also include reducing the operating speed of the drive motor at one end of the robot and / or increasing the operating speed of the drive motor at the other end of the robot.

[0066] In one example, the adjustment module 603 may further include reversing a drive motor at one end of the robot if the tilt angle is greater than a first reference angle, wherein the first reference angle is a maximum tilt angle at which the robot can maintain movement.

[0067] In one example, the first reference angle is a tilt angle that causes a driving motor of the robot to just stall.

[0068] In one example, the device 600 may further include a judgment module, which is used to judge whether the tilt angle is greater than a second reference angle, wherein the second reference angle is the minimum tilt angle for adjusting the robot posture. The adjustment module 603 may include adjusting the operating speed of the driving motor of the robot when the tilt angle is greater than the second reference angle.

[0069] In one example, the device 600 may further include a detection module, and the detection module is used to detect and determine whether the robot has scanned the edge of the photovoltaic component through ultrasonic wave.

[0070] In an example, the device 600 may further include stopping the robot from moving or causing the robot to move in reverse when the robot scans an edge of a photovoltaic assembly.

[0071] The details of other operations performed by each module in this embodiment can be referred to the aforementioned embodiments and will not be elaborated here.

[0072] The photovoltaic suspended cleaning robot posture adjustment device provided in this embodiment first obtains the real-time coordinates of the two optical flow sensors of the robot, which are located at both ends of the robot, and then calculates the operating state of the robot according to the real-time coordinates of the two optical flow sensors, wherein the operating state includes the movement speed and tilt angle of the robot. Finally, the operating speed of the driving motor of the robot is adjusted according to the tilt angle to restore the posture of the robot to a normal state, thereby improving the accuracy, real-time performance and stability of adjusting the posture of the robot, and also having a strong anti-interference ability.

[0073] A photovoltaic suspension type cleaning robot posture adjustment device in the embodiment of the present application can be a device, or a component, integrated circuit, or chip in a terminal. A photovoltaic suspension type cleaning robot posture adjustment device in the embodiment of the present application can be a device with an operating system. The operating system can be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0074] The present application also provides an electronic device, comprising: a memory for storing programs or instructions executable by a processor; and a processor for executing the above-mentioned programs or instructions to implement the various processes of the above-mentioned photovoltaic suspended cleaning robot posture adjustment method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0075] Figure 7700 is a schematic diagram of an electronic device according to an embodiment of the present invention. The electronic device 700 may include an internal communication bus 701, a processor (Processor) 702, a read-only memory (ROM) 703, a random access memory (RAM) 704, and a communication port 705. When applied to a personal computer, the electronic device 700 may also include a hard disk 706. The internal communication bus 701 can realize data communication between components of the electronic device 700. The processor 702 can make judgments and issue prompts. In some embodiments, the processor 702 can be composed of one or more processors. The communication port 705 can realize data communication between the electronic device 700 and the outside. In some embodiments, the electronic device 700 can send and receive information and data from the network through the communication port 705. The electronic device 700 may also include different forms of program storage units and data storage units, such as a hard disk 706, a read-only memory (ROM) 703 and a random access memory (RAM) 704, which can store various data files used for computer processing and / or communication, and possible programs or instructions executed by the processor 702. The processing result of the processor 702 is transmitted to the user equipment through the communication port 705 and displayed on the user interface.

[0076] The above-mentioned photovoltaic suspension type cleaning robot posture adjustment method can be implemented as a computer program, stored in the hard disk 706, and can be recorded in the processor 702 for execution to implement any photovoltaic suspension type cleaning robot posture adjustment method in this application.

[0077] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned photovoltaic suspended cleaning robot posture adjustment method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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 method for adjusting the posture of a photovoltaic suspension cleaning robot, characterized in that: include: Initialize the position and calibration of the two optical flow sensors at the robot's cleaning starting position; Acquire real-time coordinates of two optical flow sensors of the robot, wherein the two optical flow sensors are located at two ends of the robot; Calculating the running state of the robot according to the real-time coordinates of the two optical flow sensors, wherein the running state includes the movement speed and the tilt angle of the robot; calculating the tilt angle includes calculating the tilt degree of the current posture of the robot relative to the posture of the robot during initialization calibration; The running speed of the driving motor of the robot is adjusted according to the tilt angle to restore the posture of the robot to a normal state; if the tilt angle is greater than a first reference angle, the driving motor at one end of the robot is reversed, wherein the first reference angle is the maximum tilt angle at which the robot can maintain running, and the first reference angle is the tilt angle at which the driving motor of the robot is just stalled; Ultrasonic wave detection is used to determine whether the robot has scanned the edge of the photovoltaic component. If the robot has scanned the edge of the photovoltaic component, the robot is stopped or driven in the reverse direction.

2. The method for adjusting the posture of a photovoltaic suspension cleaning robot according to claim 1, characterized in that: The step of obtaining the real-time coordinates of the two optical flow sensors of the robot further includes: A special area of ​​the photovoltaic module is filtered, wherein the special area includes a gap and an edge of the photovoltaic module.

3. The method for adjusting the posture of a photovoltaic suspension cleaning robot according to claim 1, characterized in that: The step of adjusting the operating speed of the driving motor of the robot further comprises: Reduce the operating speed of the drive motor at one end of the robot and / or increase the operating speed of the drive motor at the other end of the robot.

4. The method for adjusting the posture of a photovoltaic suspension cleaning robot according to claim 1, characterized in that: Also includes: Determining whether the tilt angle is greater than a second reference angle, wherein the second reference angle is a minimum tilt angle for adjusting the robot's posture; Adjusting the operating speed of the driving motor of the robot according to the tilt angle includes: adjusting the operating speed of the driving motor of the robot when the tilt angle is greater than the second reference angle.

5. A photovoltaic suspension cleaning robot posture adjustment device, characterized in that: include: The initialization module is used to initialize and calibrate the posture of the two optical flow sensors at the robot's cleaning starting position; An acquisition module, used to acquire the real-time coordinates of two optical flow sensors of the robot, wherein the two optical flow sensors are located at two ends of the robot; A calculation module, used for calculating the running state of the robot according to the real-time coordinates of the two optical flow sensors, wherein the running state includes the movement speed and the tilt angle of the robot; calculating the tilt angle includes calculating the tilt degree of the current posture of the robot relative to the posture of the robot during initialization calibration; An adjustment module is used to adjust the running speed of the driving motor of the robot according to the tilt angle so that the posture of the robot returns to a normal state; if the tilt angle is greater than a first reference angle, the driving motor at one end of the robot is reversed, wherein the first reference angle is the maximum tilt angle at which the robot can maintain driving, and the first reference angle is the tilt angle that causes the driving motor of the robot to just reach a stall; The detection module is used to detect and determine whether the robot has scanned the edge of the photovoltaic component through ultrasonic waves. When the robot has scanned the edge of the photovoltaic component, the robot is stopped from moving or is caused to move in the reverse direction.

6. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the method for adjusting the posture of a photovoltaic suspension cleaning robot as described in any one of claims 1 to 4 are implemented.

7. A readable storage medium, characterized in that: The readable storage medium stores programs or instructions, and when the programs or instructions are executed by the processor, the steps of the photovoltaic suspension cleaning robot posture adjustment method as described in any one of claims 1-4 are implemented.

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