A steering control method, device and robot

Abstract

The embodiment of the application provides a kind of steering control method, device and robot, it is related to automatic control technical field.When robot is located on the photovoltaic module with inclination and robot receives steering instruction, after obtaining the difference of the torque of first drive motor and second drive motor, the difference is input to PID controller to obtain control signal.Subsequently, the torque of first drive motor and / or second drive motor is adjusted according to control signal, to generate controllable offset and lateral slip offset to offset, to realize the steering control of robot can evade the lateral slip offset problem of robot.This not only ensures that the cleaning path is accurate, but also prevents potential problems such as missed cleaning and inaccurate path tracking, thereby improving the cleaning effect and cleaning efficiency of the robot on the photovoltaic module.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control, in particular to a steering control method and device and a robot. BACKGROUND

[0002] With the vigorous development of photovoltaic technology, the cleaning and maintenance of photovoltaic modules has increasingly become the focus of the industry. As a key component of solar energy conversion, the cleanliness of the surface of the photovoltaic module directly affects the photoelectric conversion efficiency. Traditional cleaning methods, such as manual cleaning, can maintain the cleanliness of the photovoltaic module to a certain extent, but are low in efficiency, labor-intensive, and have safety risks. Therefore, cleaning robots have gradually attracted the attention of the industry.

[0003] At present, the track-type cleaning robot has great potential in the field of photovoltaic module cleaning due to its unique structural design. The track-type cleaning robot has the characteristics of stable walking on complex terrain, and is particularly suitable for cleaning work of photovoltaic modules.

[0004] However, due to the inclination angle of the photovoltaic module itself and the differential steering characteristics of the track-type cleaning robot, when the track-type cleaning robot performs steering during the cleaning process, it usually occurs that the low side of the inclination angle is laterally offset. This lateral offset not only causes the cleaning path planned by the track-type cleaning robot to deviate, but also may cause problems such as missed cleaning and inaccurate path tracking, thereby seriously affecting the cleaning effect and efficiency. SUMMARY

[0005] Based on the above problems, the present application provides a steering control method, device and robot, which can improve the cleaning effect and efficiency of the robot on the photovoltaic module.

[0006] The embodiments of the present application disclose the following technical solutions:

[0007] In a first aspect, the present application discloses a steering control method, which comprises:

[0008] In the case that the robot is located on a photovoltaic module with an inclination angle and the robot receives a steering instruction, the torque of a first drive motor and the torque of a second drive motor of the robot are obtained respectively;

[0009] The difference between the torque of the first drive motor and the torque of the second drive motor is input into a proportional-integral-derivative (PID) controller to obtain a control signal, and the parameters of the PID controller are obtained by adaptive adjustment according to the inclination angle of the photovoltaic module;

[0010] According to the control signal, the torque of the first drive motor and / or the torque of the second drive motor is adjusted to realize the steering control of the robot.

[0011] Optionally, the adjusting the torque of the first driving motor and / or the second driving motor according to the control signal comprises:

[0012] According to the torque of the first driving motor and the torque of the second driving motor, confirming a driving motor to be compensated in the first driving motor and the second driving motor;

[0013] According to the control signal, adjusting the torque of the driving motor to be compensated.

[0014] Optionally, the confirming a driving motor to be compensated in the first driving motor and the second driving motor according to the torque of the first driving motor and the torque of the second driving motor comprises:

[0015] Corresponding to the greater value in the torque of the first driving motor and the torque of the second driving motor, the driving motor is confirmed as the driving motor to be compensated.

[0016] Optionally, the adjusting the torque of the first driving motor and / or the second driving motor according to the control signal comprises:

[0017] According to the expected wheel speed difference information in the control signal, determining a torque compensation value, the value of the expected wheel speed difference information and the torque compensation value are positively correlated;

[0018] According to the torque compensation value, adjusting the torque of the first driving motor and / or the second driving motor.

[0019] Optionally, the control signal is a steering control signal, and the adjusting the torque of the first driving motor and / or the second driving motor according to the control signal comprises:

[0020] After the robot is controlled to straighten a target distance according to a straight control signal, the torque of the first driving motor and / or the second driving motor is adjusted according to the steering control signal, and the target distance is positively correlated with the inclination angle of the photovoltaic module and the mass of the robot.

[0021] Optionally, the obtaining the torque of the first driving motor and the torque of the second driving motor of the robot comprises:

[0022] Obtaining the bus current of the first driving motor and the bus current of the second driving motor of the robot;

[0023] The torque of the first driving motor and the torque of the second driving motor are determined according to a product of a bus current of the first driving motor and a first preset proportion, and a product of a bus current of the second driving motor and a second preset proportion, respectively, the first preset proportion and the second preset proportion being related to magnetic flux and / or pole pair number of the first driving motor and the second driving motor, respectively.

[0024] Optionally, parameters of the PID controller are adaptively adjusted according to the mass of the robot.

[0025] In a second aspect, the application discloses a turning control device, which comprises a torque acquisition module, a signal acquisition module and a turning control module.

[0026] The torque acquisition module is configured to acquire the torque of the first driving motor and the torque of the second driving motor when the robot is located on a photovoltaic module with an inclination angle and the robot receives a turning instruction.

[0027] The signal acquisition module is configured to input a difference between the torque of the first driving motor and the torque of the second driving motor into a proportional-integral-derivative (PID) controller to obtain a control signal, and parameters of the PID controller are adaptively adjusted according to the inclination angle of the photovoltaic module.

[0028] The turning control module is configured to adjust the torque of the first driving motor and / or the torque of the second driving motor according to the control signal to realize turning control of the robot.

[0029] Optionally, the turning control module comprises a motor confirmation module and a first torque adjustment module.

[0030] The motor confirmation module is configured to confirm a driving motor to be compensated from among the first driving motor and the second driving motor according to the torque of the first driving motor and the torque of the second driving motor.

[0031] The first torque adjustment module is configured to adjust the torque of the driving motor to be compensated according to the control signal.

[0032] Optionally, the motor confirmation module is specifically configured to confirm the driving motor corresponding to a larger value of the torque of the first driving motor and the torque of the second driving motor as the driving motor to be compensated.

[0033] Optionally, the turning control module comprises a compensation confirmation module and a second torque adjustment module.

[0034] The compensation confirmation module is configured to determine a torque compensation value according to expected wheel speed difference information in the control signal, wherein the value of the expected wheel speed difference information is positively correlated with the torque compensation value.

[0035] The second torque adjustment module is configured to adjust the torque of the first driving motor and / or the second driving motor according to the torque compensation value.

[0036] Optionally, the steering control module is specifically configured to control the robot to move straight for a target distance according to a straight control signal, and then adjust the torque of the first driving motor and / or the second driving motor according to the steering control signal, wherein the target distance is positively correlated with the inclination angle of the photovoltaic module and the mass of the robot.

[0037] Optionally, the torque acquisition module comprises a current acquisition module and a torque determination module.

[0038] The current acquisition module is configured to acquire the bus current of the first driving motor and the bus current of the second driving motor.

[0039] The torque determination module is configured to determine the torque of the first driving motor and the torque of the second driving motor according to the product of the bus current of the first driving motor and a first preset proportion, and the product of the bus current of the second driving motor and a second preset proportion, respectively, wherein the first preset proportion and the second preset proportion are respectively related to the magnetic flux and / or the number of pole pairs of the first driving motor and the second driving motor.

[0040] Optionally, the parameters of the PID controller are adaptively adjusted according to the mass of the robot.

[0041] In a third aspect, the present application discloses a robot, comprising a memory and a processor.

[0042] The memory is configured to store computer programs or computer instructions.

[0043] The processor is configured to execute the computer programs or computer instructions stored in the memory, so that the robot executes the method according to the first aspect.

[0044] Compared with the prior art, the present application has the following beneficial effects:

[0045] The application provides a turning control method and device and a robot. When the robot is located on a photovoltaic module with an inclination angle and the robot receives a turning instruction, a difference between torques of first and second driving motors is obtained, and the difference is input to a PID controller to obtain a control signal. Then, the torques of the first and / or second driving motors are adjusted according to the control signal to generate a controllable offset and a lateral sliding offset to offset each other, so that the turning control of the robot can avoid the lateral sliding offset problem. This not only ensures the accuracy of the cleaning path, but also prevents potential problems such as missed cleaning and inaccurate path tracking, thereby improving the cleaning effect and cleaning efficiency of the robot on the photovoltaic module. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0047] Figure 1 A schematic diagram of a lateral sliding offset;

[0048] Figure 2 A schematic diagram of a robot provided by an embodiment of the present application;

[0049] Figure 3 A flowchart of a turning control method provided by an embodiment of the present application;

[0050] Figure 4 A flowchart of another turning control method provided by an embodiment of the present application;

[0051] Figure 5 A schematic diagram of a turning control considering lateral sliding offset provided by an embodiment of the present application;

[0052] Figure 6 A schematic diagram of a turning control considering lateral sliding offset provided by an embodiment of the present application;

[0053] Figure 7 A schematic diagram of a turning control device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0054] As described above, the current crawler-type cleaning robot has great potential in the photovoltaic module cleaning field due to its unique structural design. The crawler-type cleaning robot has the characteristics of stable walking on complex terrain, and is particularly suitable for cleaning work of photovoltaic modules.

[0055] However, referring to Figure 1 , the figure is a schematic diagram of a lateral slip deviation. Due to the inclination of the photovoltaic module itself and the differential steering characteristics of the tracked cleaning robot, when the tracked cleaning robot performs steering during the cleaning process, lateral slip deviation usually occurs on the low side of the inclination. This lateral slip deviation not only causes the cleaning path planned by the tracked cleaning robot to deviate, but also causes problems such as missed cleaning and inaccurate path tracking, thereby seriously affecting the cleaning effect and efficiency.

[0056] Even when the lateral slip deviation occurs at the edge of the photovoltaic module, there is a risk of the tracked cleaning robot falling off the edge of the photovoltaic module, and even causing damage to the tracked cleaning robot and the photovoltaic module.

[0057] The inventor has proposed a steering control method, device and robot after research. When the robot is located on a photovoltaic module with an inclination and the robot receives a steering instruction, the difference between the torques of the first drive motor and the second drive motor is obtained, and the difference is input to a PID controller to obtain a control signal. Subsequently, the torque of the first drive motor and / or the second drive motor is adjusted according to the control signal to generate a controllable offset and lateral slip deviation to offset each other, thereby realizing the steering control of the robot to avoid the lateral slip deviation of the robot. This not only ensures the accuracy of the cleaning path, but also prevents potential problems such as missed cleaning and inaccurate path tracking, thereby improving the cleaning effect and efficiency of the robot on the photovoltaic module. And, because the PID controller can ensure stable steering of the robot on photovoltaic modules with different inclinations without lateral slip deviation, the steering control method provided by the present application can also reduce the risk of the robot falling off the edge of the photovoltaic module, thereby reducing the probability of damage to the robot and the photovoltaic module. Further, because the steering control method provided by the present application can avoid the problem of lateral slip deviation without adding other mechanical structures (such as steering sensors, etc.), it also reduces the production and maintenance costs of the robot.

[0058] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0059] Referring to Figure 2Fig. 1 is a schematic diagram of a robot according to an embodiment of the present application. The robot comprises at least a first driving motor 11 and a second driving motor 12. The first driving motor 11 and the second driving motor 12 are important driving components of the robot, and are usually respectively installed beside or on two movement axes of the robot. The movement axes can be wheels, tracks or other forms of movement mechanisms. The first driving motor 11 and the second driving motor 12 are used to respectively provide power for the corresponding movement axes, drive the movement axes to rotate or move, and thus push the robot to perform actions such as advancing, retreating or turning.

[0060] It should be noted that, in the above description, Figure 2 the left driving motor is taken as the first driving motor 11 and the right driving motor is taken as the second driving motor 12 as an embodiment for description. The specific positions of the driving motors are not limited in the present application.

[0061] Through this design, the robot can achieve stable and accurate turning control on the photovoltaic module. Especially when the photovoltaic module has an inclination, by adjusting the torques of the two driving motors, the lateral sliding deviation of the robot can be effectively avoided, and it is ensured that the robot can safely and efficiently complete the cleaning or other work tasks.

[0062] Referring to Figure 3 Fig. 2 is a flowchart of a turning control method according to an embodiment of the present application. The turning control method comprises the following steps:

[0063] S301: In the case that the robot is located on a photovoltaic module with an inclination and the robot receives a turning instruction, the torque of the first driving motor and the torque of the second driving motor of the robot are respectively acquired.

[0064] Torque is a physical quantity describing the moment required or generated when the driving motor rotates. By measuring the torque of the driving motor, the size and direction of the force borne or generated by the driving motor in the current state can be understood.

[0065] When the robot is turned on a photovoltaic module with an inclination, the inclination of the photovoltaic module can cause the robot to slide laterally during turning, so it is necessary to acquire the torque value of the first driving motor and the torque value of the second driving motor of the robot in real time.

[0066] In some specific implementations, the busbar current value of the first driving motor and the busbar current value of the second driving motor can be first acquired, and then the torque value of the first driving motor and the torque value of the second driving motor can be respectively calculated according to the corresponding relationship between the busbar current value and the torque value.

[0067] Specifically, first, bus current values of the first driving motor and the second driving motor are acquired respectively. The bus current is a direct embodiment of the total current of the driving motor. Exemplarily, in a three-phase driving motor, the bus current is the sum of the effective values of the three-phase currents (IA, IB, IC) under the condition of three-phase balance, that is, I = V[(IA2+ IB2+ IC2) / 3]. Then, according to a constant K determined in advance through experiments or technical specifications of the driving motor, the torque values of the first driving motor and the second driving motor are calculated respectively by the formula T = K * I. Wherein, K is a constant closely related to characteristics such as the magnetic flux (Φ) and / or the number of pole pairs (p) of the driving motor.

[0068] S302: input the difference between the torque of the first driving motor and the torque of the second driving motor into a proportional-integral-derivative (PID) controller to obtain a control signal, and the parameters of the PID controller are adaptively adjusted according to the inclination of the photovoltaic module.

[0069] In order to compensate for the torque difference between the two driving motors caused by the inclination of the photovoltaic module, the torque difference between the two driving motors needs to be input into a proportional-integral-derivative (PID) controller to obtain a control signal for compensating the torque difference. Wherein, the PID controller is a widely used control algorithm, which outputs a control signal by calculating the proportion (P), integral (I) and derivative (D) of the error. In the steering control scenario provided in the embodiments of the present application, the error is the difference between the torque of the first driving motor and the torque of the second driving motor.

[0070] It should be noted that, since the inclination of the photovoltaic module may change, or the inclinations of different photovoltaic modules may be different, in order to ensure that the robot can accurately perform steering control on photovoltaic modules at any angle, the parameters of the PID controller (i.e. the proportional coefficient Kp, the integral coefficient Ki and the derivative coefficient Kd) need to be adaptively adjusted according to the inclination of the photovoltaic module. Exemplarily, the adjustment of the parameters of the PID controller can be realized by an online learning algorithm or an optimization algorithm, which is not limited in the present application.

[0071] S303: adjust the torque of the first driving motor and / or the second driving motor according to the control signal to realize the steering control of the robot.

[0072] In order to realize the steering control of the robot, the torque of the first driving motor and / or the second driving motor can be adjusted according to the control signal output by the PID controller. In this way, the robot can accurately perform steering operation as needed.

[0073] In summary, the application discloses a turning control method. When the robot is located on a photovoltaic module with an inclination angle and the robot receives a turning instruction, a difference between the torques of the first driving motor and the second driving motor is obtained, and the difference is input to a PID controller to obtain a control signal. Then, the torque of the first driving motor and / or the second driving motor is adjusted according to the control signal, so as to offset the controllable offset and the lateral slip offset, thereby avoiding the lateral slip offset problem of the robot during the turning control of the robot. This not only ensures the accuracy of the cleaning path, but also prevents potential problems such as missed cleaning and inaccurate path tracking, thereby improving the cleaning effect and cleaning efficiency of the robot on the photovoltaic module.

[0074] Referring to Figure 4 The figure is a flowchart of another turning control method provided by the embodiment of the application. The method comprises the following steps:

[0075] S401: In the case that the robot is located on a photovoltaic module with an inclination angle and the robot receives a turning instruction, bus currents of a first driving motor and a second driving motor of the robot are obtained respectively.

[0076] Since the bus current is the sum of the effective values of the phase currents under the condition of phase balance in the driving motor, the phase current values of the first driving motor and the second driving motor can be collected by the ADC interface of the single-chip microcomputer after ensuring that the ADC interface of the single-chip microcomputer is connected to the first driving circuit of the first driving motor and the second driving circuit of the second driving motor respectively. Then, the phase current values of the first driving circuit and the second driving circuit are converted into the bus current values of the first driving circuit and the second driving circuit respectively according to the circuit structures of the first driving circuit and the second driving circuit and the relationship between the phase current and the bus current.

[0077] It should be noted that after the bus currents of the first driving motor and the second driving motor are collected, the Kalman Filter algorithm can be used to process the collected bus currents, so as to eliminate large fluctuations and noise in the bus currents, thereby improving the stability and reliability of the bus currents. This not only provides more accurate data support for the subsequent turning control method, but also improves the stability of the robot.

[0078] S402: If the difference between the bus currents of the first driving motor and the second driving motor is greater than a compensation speed threshold, a PID controller of the robot is started.

[0079] To determine whether the PID controller needs to be started for more precise steering control, the difference between the bus currents of the first and second drive motors needs to be compared with a preset compensation speed threshold. The compensation speed threshold is usually set according to the current characteristics of the robot during steering, the performance of the drive motor, and safety requirements and other factors. The role of the compensation speed threshold is to reflect the additional current or torque that the drive motor may need during steering to ensure that the robot can smoothly complete the steering action.

[0080] If the difference between the bus currents of the first and second drive motors is greater than the compensation speed threshold, it means that there is a large imbalance in the current steering process, which may be caused by the inclination of the photovoltaic module, uneven weight distribution of the robot, or other external factors, and the PID controller needs to be started for more precise steering control.

[0081] It should be noted that if an abnormal situation occurs during steering (such as abnormal current rise, drive motor overheating, etc.), appropriate protective measures should be taken immediately, such as reducing the output of the drive motor, stopping the steering operation, etc., to ensure the safe operation of the robot.

[0082] S403: According to the bus currents of the first and second drive motors, the torques of the first and second drive motors are determined.

[0083] According to the product of the bus current of the first drive motor and the first preset proportion, and the product of the bus current of the second drive motor and the second preset proportion, the torque of the first drive motor and the torque of the second drive motor can be determined respectively. The first preset proportion and the second preset proportion are related to the magnetic flux Φ and / or the number of pole pairs p of the first drive motor and the second drive motor, respectively.

[0084] For example, assuming that the magnetic flux of the drive motor is Φ, the number of pole pairs is p, and the bus current is I, the relationship between the torque T and the bus current I, the magnetic flux Φ, and the number of pole pairs p can be represented by the following formula: T=k*I*Φ*p. Where k is a constant, which depends on the specific design and characteristics of the drive motor.

[0085] S404: According to the torques of the first and second drive motors, the drive motor to be compensated among the first and second drive motors is determined.

[0086] During the steering of the robot, the inclination of the photovoltaic module may cause the first and second drive motors of the robot to produce different torques, so in order to ensure that the robot can steer smoothly, it is necessary to determine which drive motor needs additional compensation according to the torques of the first and second drive motors.

[0087] In some examples, see Figure 5Fig. 4 is a schematic diagram of a steering control considering lateral slip deviation according to an embodiment of the present application. When the robot turns left and the subsequent cleaning path is a downhill, in order to ensure that the robot does not produce lateral slip deviation, the first driving motor 11 of the robot is the "climbing side" driving motor, and the second driving motor 12 is the "downhill side" driving motor. Due to the action of the gravity of the robot and the ground friction, the "climbing side" driving motor of the robot will bear a larger load, so its torque will also be larger. And the "downhill side" driving motor will bear a smaller load, so its torque will also be smaller. In order to compensate for the difference between the torques, the "climbing side" driving motor needs to be compensated to maintain the stability and accuracy of the steering of the robot. Therefore, the driving motor with larger torque, i.e. the first driving motor 11, can be determined as the driving motor to be compensated.

[0088] Referring to Table 1, the table provides a determination table of the driving motor to be compensated according to an embodiment of the present application. The table lists the determination method of the driving motor to be compensated:

[0089] Table 1

[0090]

[0091]

[0092] S405: input the difference between the torque of the first driving motor and the torque of the second driving motor into a proportional-integral-derivative (PID) controller to obtain a control signal, and the parameters of the PID controller are obtained by self-adaptive adjustment according to the inclination of the photovoltaic module and / or the mass of the robot.

[0093] In some possible implementations, the greater the mass of the robot means that a greater force needs to be applied to the robot to change the motion state of the robot, and the greater the inertia of the robot, the longer time it may take to eliminate errors, so for a robot with a larger mass, the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd in the PID controller may need to be increased. It should be noted that the specific self-adaptive adjustment method is not limited in the present application.

[0094] S406: adjust the torque of the driving motor to be compensated according to the control signal.

[0095] The control signal includes information about the desired wheel speed difference, which represents the speed difference between the robot's wheels on either side to achieve a specific steering target. After obtaining the desired wheel speed difference information based on the control signal, a torque compensation value must be determined based on this information. The magnitude of the torque compensation value is positively correlated with the desired wheel speed difference. In other words, the larger the desired wheel speed difference, the larger the required torque compensation value. Subsequently, based on the calculated torque compensation value, the torque of the motor to be compensated, determined in step S404, can be adjusted to achieve differential control, enabling the robot to move along the desired path and speed.

[0096] In some specific implementations, such as Figure 5 As shown, after the robot is controlled to turn, although the robot does not generate a lateral sliding offset on the Y axis, it may still generate a lateral sliding offset on the X axis. Then, in order to correct this offset, a straight-line control signal can be applied to the robot before the robot turns, and the straight-line control signal is used to control the robot to go straight. After controlling the robot to go straight and the target distance corresponding to the straight-line control signal, the torque of the motor to be compensated is adjusted according to the control signal output by the PID controller (i.e., the steering control signal, used to control the steering of the robot), thereby realizing the steering control of the robot. It should be noted that the target distance corresponding to the straight-line control signal is positively correlated with the inclination angle of the photovoltaic module, that is, the greater the inclination angle of the photovoltaic module, the greater the target distance for straight-line movement may be. In addition, the target distance corresponding to the straight-line control signal is also positively correlated with the mass of the robot, that is, the greater the mass of the robot, the greater the target distance for straight-line movement may be.

[0097] In another specific implementation, see Figure 6 , this figure is a schematic diagram of a steering control without considering the lateral sliding offset provided by an embodiment of the present application. When the cleaning path of the robot is parallel walking, rather than uphill or downhill, the steering control method disclosed in the embodiment of the present application will cause the robot to generate a lateral sliding offset on the X-axis while also generating a lateral sliding offset on the Y-axis. Therefore, after adjusting the torque of the motor to be compensated according to the control signal output by the PID controller (i.e., the steering control signal, used to control the steering of the robot), thereby achieving the steering control of the robot, a straight-line control signal is applied to the robot, and the straight-line control signal is used to control the robot to go straight. It should be noted that the target distance corresponding to the straight-line control signal is also positively correlated with the inclination angle of the photovoltaic module and the mass of the robot.

[0098] In summary, the application discloses a turning control method. When the robot is located on a photovoltaic module with an inclination angle and the robot receives a turning instruction, a difference between the torques of the first driving motor and the second driving motor is obtained, and the difference is input into a PID controller to obtain a control signal. Then, the torque of the first driving motor and / or the second driving motor is adjusted according to the control signal, so as to offset the controllable offset and the lateral slip offset, thereby avoiding the lateral slip offset problem during the turning control of the robot. This not only ensures the accuracy of the cleaning path, but also prevents potential problems such as missed cleaning and inaccurate path tracking, thereby improving the cleaning effect and cleaning efficiency of the robot on the photovoltaic module. Moreover, since the PID controller can ensure stable turning of the robot on photovoltaic modules with different inclination angles without lateral slip offset, the turning control method provided by the application can also reduce the risk of falling of the robot at the edge of the photovoltaic module, thereby reducing the probability of damage to the robot and the photovoltaic module. Furthermore, since the turning control method provided by the application can avoid the lateral slip offset problem without adding other mechanical structures (such as a turning sensor), the production and maintenance costs of the robot are also reduced.

[0099] Referring to Figure 7 The figure is a schematic diagram of a turning control device provided by an embodiment of the application. The turning control device 700 comprises a torque acquisition module 701, a signal acquisition module 702 and a turning control module 703.

[0100] The torque acquisition module 701 is configured to, in the case that the robot is located on a photovoltaic module with an inclination angle and the robot receives a turning instruction, acquire the torque of the first driving motor and the torque of the second driving motor of the robot respectively.

[0101] The signal acquisition module 702 is configured to input the difference between the torque of the first driving motor and the torque of the second driving motor into a proportional-integral-derivative (PID) controller to obtain a control signal, and the parameters of the PID controller are obtained by self-adaptive adjustment according to the inclination angle of the photovoltaic module.

[0102] The turning control module 703 is configured to adjust the torque of the first driving motor and / or the second driving motor according to the control signal, so as to realize the turning control of the robot.

[0103] Optionally, the turning control module 703 comprises a motor confirmation module and a first torque adjustment module.

[0104] The motor confirmation module is configured to confirm a driving motor to be compensated from the first driving motor and the second driving motor according to the torque of the first driving motor and the torque of the second driving motor.

[0105] The first torque adjustment module is configured to adjust the torque of the driving motor to be compensated according to the control signal.

[0106] Optionally, the motor confirming module is specifically configured to confirm the driving motor corresponding to the larger value of the torque of the first driving motor and the torque of the second driving motor as the driving motor to be compensated.

[0107] Optionally, the steering control module 703 comprises a compensation confirming module and a second torque adjusting module.

[0108] The compensation confirming module is configured to determine a torque compensation value according to the expected wheel speed difference information in the control signal, and the value of the expected wheel speed difference information is positively correlated with the torque compensation value.

[0109] The second torque adjusting module is configured to adjust the torque of the first driving motor and / or the second driving motor according to the torque compensation value.

[0110] Optionally, the steering control module 703 is specifically configured to, after controlling the robot to move straight for a target distance according to the straight control signal, adjust the torque of the first driving motor and / or the second driving motor according to the steering control signal, and the target distance is positively correlated with the inclination of the photovoltaic module and the mass of the robot.

[0111] Optionally, the torque obtaining module 701 comprises a current obtaining module and a torque determining module.

[0112] The current obtaining module is configured to obtain the bus current of the first driving motor and the bus current of the second driving motor of the robot.

[0113] The torque determining module is configured to determine the torque of the first driving motor and the torque of the second driving motor according to the product of the bus current of the first driving motor and a first preset proportion and the product of the bus current of the second driving motor and a second preset proportion, respectively, and the first preset proportion and the second preset proportion are respectively related to the magnetic flux and / or the number of pole pairs of the first driving motor and the second driving motor.

[0114] Optionally, the parameters of the PID controller are obtained by adaptive adjustment according to the mass of the robot.

[0115] In summary, the application discloses a turning control device. When the robot is located on a photovoltaic module with an inclination angle and the robot receives a turning instruction, a difference between the torques of the first driving motor and the second driving motor is obtained, and the difference is input to a PID controller to obtain a control signal. Then, the torque of the first driving motor and / or the second driving motor is adjusted according to the control signal to generate a controllable offset and a lateral slip offset to offset each other, so as to realize the turning control of the robot and avoid the lateral slip offset problem of the robot. This not only ensures the accuracy of the cleaning path, but also prevents potential problems such as missed cleaning and inaccurate path tracking, thereby improving the cleaning effect and cleaning efficiency of the robot on the photovoltaic module. Moreover, since the PID controller can ensure the stable turning of the robot on the photovoltaic module with different inclination angles and no lateral slip offset, the turning control device provided by the application can also reduce the risk of falling of the robot at the edge of the photovoltaic module, thereby reducing the probability of damage to the robot and the photovoltaic module. Further, since the turning control device provided by the application can avoid the lateral slip offset problem without adding other mechanical structures (such as a turning sensor), the production and maintenance costs of the robot are also reduced.

[0116] Correspondingly, the application also discloses a robot, which comprises a memory and a processor, the memory is used to store computer programs or computer instructions, and the processor is used to execute the computer programs or computer instructions stored in the memory, so that the robot executes the turning control method.

[0117] The robot provided by the application has the beneficial effects of the foregoing turning control method.

[0118] It should be noted that each embodiment in the present application is described in a progressive manner, and the same and similar parts of each embodiment can be referred to each other. Each embodiment focuses on the differences from other embodiments. Especially, the device and system embodiments are described more simply because they are basically similar to the method embodiments. The relevant parts can be referred to the part of the method embodiment. The device and system embodiments described above are only illustrative, and the units described as separate components can be or can not be physically separated, and the components indicated as units can be or can not be physical units, that is, they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0119] The above merely provides one specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any changes or replacements within the technical scope disclosed by the present application, which can be easily thought by any person skilled in the art, should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A steering control method, characterized in that: The method comprises: When the robot is located on a photovoltaic assembly with an inclination and receives a steering instruction, respectively obtaining the torque of a first drive motor and the torque of a second drive motor of the robot; Inputting the difference between the torque of the first drive motor and the torque of the second drive motor into a proportional-integral-differential (PID) controller to obtain a control signal, wherein the parameters of the PID controller are adaptively adjusted according to the inclination angle of the photovoltaic module; According to the control signal, the torque of the first drive motor and / or the second drive motor is adjusted to achieve steering control of the robot.

2. The method according to claim 1, characterized in that The adjusting the torque of the first drive motor and / or the second drive motor according to the control signal includes: identifying a drive motor to be compensated between the first drive motor and the second drive motor according to the torque of the first drive motor and the torque of the second drive motor; The torque of the motor to be compensated is adjusted according to the control signal.

3. The method according to claim 2, characterized in that The step of determining, based on the torque of the first drive motor and the torque of the second drive motor, a drive motor to be compensated between the first drive motor and the second drive motor includes: A drive motor corresponding to a larger value between the torque of the first drive motor and the torque of the second drive motor is identified as the drive motor to be compensated.

4. The method according to claim 1, wherein The adjusting the torque of the first drive motor and / or the second drive motor according to the control signal includes: determining a torque compensation value according to the desired wheel speed difference information in the control signal, wherein the value of the desired wheel speed difference information and the torque compensation value are positively correlated; The torque of the first drive motor and / or the second drive motor is adjusted according to the torque compensation value.

5. The method according to claim 1, wherein The control signal is a steering control signal, and adjusting the torque of the first drive motor and / or the second drive motor according to the control signal includes: After controlling the straight-line target distance of the robot according to the straight-line control signal, the torque of the first drive motor and / or the second drive motor is adjusted according to the steering control signal, and the target distance is positively correlated with the inclination angle of the photovoltaic module and the mass of the robot.

6. The method according to any one of claims 1 to 5, characterized in that The obtaining of the torque of the first drive motor and the torque of the second drive motor of the robot includes: Obtaining a bus current of a first drive motor and a bus current of a second drive motor of the robot; The torque of the first drive motor and the torque of the second drive motor are determined respectively based on the product of the bus current of the first drive motor and a first preset ratio, and the product of the bus current of the second drive motor and a second preset ratio, wherein the first preset ratio and the second preset ratio are respectively related to the magnetic flux and / or pole pair number of the first drive motor and the second drive motor.

7. The method according to claim 1, characterized in that The parameters of the PID controller are obtained by adaptively adjusting according to the mass of the robot.

8. A steering control device, characterized in that: The device includes: a torque acquisition module, a signal acquisition module and a steering control module; The torque acquisition module is configured to respectively acquire the torque of the first drive motor and the torque of the second drive motor of the robot when the robot is located on a photovoltaic assembly with an inclination and the robot receives a steering instruction; The signal acquisition module is configured to input the difference between the torque of the first drive motor and the torque of the second drive motor into a proportional-integral-differential (PID) controller to obtain a control signal, wherein the parameters of the PID controller are adaptively adjusted according to the inclination angle of the photovoltaic module; The steering control module is configured to adjust the torque of the first drive motor and / or the second drive motor according to the control signal to achieve steering control of the robot.

9. The device according to claim 8, characterized in that The steering control module includes: a motor confirmation module and a torque adjustment module; The motor confirmation module is configured to confirm the drive motor to be compensated between the first drive motor and the second drive motor based on the torque of the first drive motor and the torque of the second drive motor; The torque adjustment module is used to adjust the torque of the motor to be compensated according to the control signal.

10. A robot, characterized in that: The robot includes: a memory and a processor; The memory is used to store computer programs or computer instructions; The processor is configured to execute the computer program or computer instructions stored in the memory, so that the robot performs the method according to any one of claims 1 to 7.

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