A method for detecting and controlling a photovoltaic cleaning robot in mid-air

Abstract

The present invention proposes a suspension detection control method for a photovoltaic cleaning robot, which belongs to the field of photovoltaic cleaning robots. The suspension detection method for the photovoltaic cleaning robot of the present invention monitors the distance between the robot and the working surface by setting two layers of sensors, and divides the working state into a drop in front, a critical state of the suspended edge, and a dangerous state of the suspended edge according to the distance signal recognized by the sensor. The control unit makes corresponding deceleration and automatic obstacle avoidance responses according to different working states, and updates the cleaning map and the target planning route to continue to complete the cleaning work. The safety distance threshold between the first sensor and the second sensor is determined according to the center of gravity distribution and size of the photovoltaic cleaning robot, the distribution of the adsorption unit, and the inclination angle of the photovoltaic panel, and the layout of the sensors is optimized to improve the coverage and accuracy of the sensor monitoring. The present invention can more accurately identify the suspended state, avoid premature cessation of the cleaning operation due to misjudgment, and thus improve the cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cleaning robots, and in particular to a suspension detection and control method for a photovoltaic cleaning robot. Background Art

[0002] With the rapid development of renewable energy, photovoltaic power generation has become an important part of the global energy structure. Cleaning photovoltaic panels is essential to maintaining their efficient operation, as dust and other contaminants reduce the absorption and conversion efficiency of light energy. At present, photovoltaic cleaning robots mainly rely on fixed paths to perform cleaning tasks, and use a single sensor to identify hanging or a built-in attitude sensor to monitor its own tilt angle to identify hanging obstacle avoidance strategies. The obstacle avoidance strategy of single sensor identification of overhang is to identify whether there is overhang by setting a circle of ranging sensors on the photovoltaic cleaning robot. Once a sensor identifies the overhang state, the photovoltaic cleaning robot will start the automatic obstacle avoidance program. This obstacle avoidance strategy is too conservative and it is easy to misjudge the normal connection gap between photovoltaic panels as overhang, resulting in premature stopping of the operation before reaching the area to be cleaned, seriously affecting the cleaning effect; the obstacle avoidance strategy of using a built-in attitude sensor to monitor its own tilt angle to identify overhang is to set an attitude sensor in the middle of the photovoltaic cleaning robot. When encountering overhang, the photovoltaic cleaning robot tilts due to unbalanced force. When the tilt angle exceeds the safety threshold, the attitude sensor will recognize that it is overhanging and start the automatic obstacle avoidance program at this time. However, this obstacle avoidance strategy is too extreme because it means that obstacle avoidance response will only be made when there is obvious tilt, that is, when it is in a more dangerous state. This delayed response may cause the photovoltaic cleaning robot to be damaged in the overhanging area and may even cause more serious safety problems.

[0003] Therefore, it is necessary to design a photovoltaic cleaning robot suspension detection method that can safely identify the suspension state and has higher cleaning efficiency to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a suspension detection control method for a photovoltaic cleaning robot to solve the above-mentioned problems of the prior art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A method for detecting and controlling a photovoltaic cleaning robot in mid-air comprises the following steps:

[0007] S100 Installing a photovoltaic cleaning robot: The photovoltaic cleaning robot includes a body, a cleaning unit, a walking unit, an adsorption unit, a suspension detection unit and a control unit. Along the cleaning direction, the cleaning units are provided with two, which are symmetrically arranged on the front and rear sides of the body respectively. The walking units are provided with two, which are symmetrically arranged on the left and right sides of the body respectively. The body is provided with a plurality of adsorption units. The adsorption unit includes a floating plate in contact with the working surface and a fan assembly for causing the floating plate and the working surface to generate negative pressure and adsorb each other. The fan assembly sucks air to form negative pressure so that the floating plate is adsorbed on the working surface; the suspension detection unit includes a first sensor and a second sensor. Each of the first sensors is provided at the left and right sides of the bottom of each cleaning unit. Each of the second sensors is provided at the front and rear sides of the bottom of each walking unit. The first and second sensors are electrically connected to the control unit.

[0008] S101 data initialization: setting the running speed v, running route and fall safety threshold h', and performing zero point calibration on the first sensor and the second sensor;

[0009] S102 real-time monitoring: during the operation of the photovoltaic cleaning robot, the first sensor and the second sensor continuously monitor the distance between them and the working surface, respectively obtain the actual distance signal h1 and the actual distance signal h2 and feed them back to the control unit to form a cleaning map;

[0010] S103 state determination and safety response: the control unit analyzes the state of the photovoltaic cleaning robot according to the signal acquired in real time in step S102 and responds;

[0011] When 0≤h1≤h' and h2≤h', it is determined that there is a drop ahead, and the drop is within the acceptable range of the photovoltaic cleaning robot, the control unit does not respond, and the photovoltaic cleaning robot continues to move forward according to the set running route and the set running speed v;

[0012] When h1>h' and h2≤h', it is determined to be a critical state of the suspended edge, the control unit responds with a deceleration, and the photovoltaic cleaning robot decelerates and moves forward slowly according to the set running route;

[0013] When h1>h' and h2>h', it is determined to be a dangerous state of an overhanging edge, the control unit makes an emergency stop response and notifies the operator through the remote control system, starts the automatic obstacle avoidance program, and keeps the photovoltaic cleaning robot away from the overhanging edge;

[0014] In other cases, the control unit does not respond, and the photovoltaic cleaning robot continues to move forward according to the set running route and the set running speed v;

[0015] S104 state adjustment: the photovoltaic cleaning robot adjusts its position according to the instruction of the automatic obstacle avoidance program until all the actual distance signals h1 and the actual distance signals h2 are less than the fall safety threshold h', turns off the automatic obstacle avoidance program, and restores the running speed to the set running speed v;

[0016] S105 updates the cleaning map: marks the coordinate positions that cause the photovoltaic cleaning robot to be judged as a critical state of a hanging edge and a dangerous state of a hanging edge in the cleaning map, obtains an updated cleaning map, replans the operation route in the updated cleaning map, obtains the target operation route, and the photovoltaic cleaning robot continues to complete the cleaning task according to the target operation route.

[0017] As a preferred technical solution of the present invention, the installation distance between the first sensor and the second sensor should be within a safe range, and the installation distance is determined by the center of gravity position, size and inclination angle of the photovoltaic panel of the photovoltaic cleaning robot, and is controlled by the lateral safety distance threshold x and the longitudinal safety distance threshold y and satisfies the following relationship:

[0018] Lateral safety distance threshold x:

[0019] x≤Bh×tanθ

[0020] Longitudinal safety distance threshold y:

[0021] y≤Lh×tanθ

[0022] Among them, the lateral safety distance threshold x is the installation spacing threshold of the first sensor and the second sensor of the photovoltaic cleaning robot in the short side direction, the longitudinal safety distance threshold y is the installation spacing threshold of the first sensor and the second sensor of the photovoltaic cleaning robot in the long side direction, B is the smaller value of the distance between the lateral edge of the photovoltaic cleaning robot and its center of gravity, L is the smaller value of the distance between the longitudinal edge of the photovoltaic cleaning robot and its center of gravity, h is the height of the center of gravity of the photovoltaic cleaning robot, and θ is the inclination angle of the photovoltaic panel;

[0023] Secondly, to ensure that the adsorption units all work effectively, the lateral safety distance threshold x and the longitudinal safety distance threshold y should also satisfy the following relationship:

[0024] Lateral safety distance threshold x:

[0025] x≤a1

[0026] Longitudinal safety distance threshold y:

[0027] y≤a2

[0028] Wherein, a1 is the distance from the edge of the adsorption unit in the short side direction to the edge of the short side of the photovoltaic cleaning robot, and a2 is the distance from the edge of the adsorption unit in the long side direction to the edge of the long side of the photovoltaic cleaning robot;

[0029] In addition, to ensure that the photovoltaic cleaning robot can successfully cross the standard gap a3 between the photovoltaic panels, the lateral safety distance threshold x and the longitudinal safety distance threshold y should both be greater than the standard gap a3, that is, x and y satisfy the following relationship:

[0030] Lateral safety distance threshold x:

[0031]

[0032] Longitudinal safety distance threshold y:

[0033]

[0034] Furthermore, the standard gap a3 between the photovoltaic panels is 15 mm to 25 mm.

[0035] As a preferred technical solution of the present invention, the fall safety threshold h' in step S101 is the standard thickness h of the photovoltaic panel. 标 .

[0036] Furthermore, the standard thickness h of the photovoltaic panel 标 It is 30mm~35mm.

[0037] As a preferred technical solution of the present invention, in step S101, the first sensor and the second sensor are any one of a laser radar, an ultrasonic radar, and an infrared rangefinder.

[0038] Furthermore, the set running speed v of the photovoltaic cleaning robot in step S101 is 0.5 m / s, and the deceleration response in step S103 is to reduce the running speed to 0.2 m / s.

[0039] As a preferred technical solution of the present invention, the automatic obstacle avoidance program in step S103 includes a retreat program and a rotation program. The retreat program is for the photovoltaic cleaning robot to retreat along the set running route, and the rotation program is for the photovoltaic cleaning robot to perform a left spin or a right spin. When the two actual distance signals h1 and the two actual distance signals h2 are both greater than h' at the same time, the control unit starts the retreat program; when one actual distance signal h1 and one actual distance signal h2 are both greater than h', the control unit starts the rotation program, and the rotation direction is the opposite direction of the coordinate position relative to the dangerous state of the hanging edge.

[0040] As a preferred technical solution of the present invention, the target running route in step S105 is a route for cleaning the area to be cleaned in the cleaning map.

[0041] The beneficial effects of the present invention are:

[0042] 1. The present invention sets a first sensor and a second sensor to monitor the distance between the photovoltaic cleaning robot and the working surface in real time. The control unit analyzes the distance signals recognized by the two sensors and divides its working state into a drop in front, a critical state of the suspended edge, and a dangerous state of the suspended edge. The control unit responds to the corresponding deceleration and automatic obstacle avoidance according to the different working states. The present invention can more accurately identify the real suspended area, avoiding the normal connection gap between the photovoltaic panels from being misjudged as suspended, resulting in premature cessation of the cleaning operation; it also avoids the extreme situation where the obstacle avoidance response is made only after the inclination angle of the fuselage exceeds the safety threshold and is in a more dangerous state, ensuring that the photovoltaic cleaning robot works safely without falling while covering as many photovoltaic panel areas as possible during the cleaning operation, thereby improving the cleaning efficiency.

[0043] 2. Determine the safety distance threshold between the first sensor and the second sensor based on factors such as the center of gravity distribution and size of the photovoltaic cleaning robot, the distribution of the adsorption units, and the inclination angle of the photovoltaic panel, optimize the layout of the sensors, improve the coverage and accuracy of sensor monitoring, and reduce misjudgments (normal gaps are judged as suspended) and missed judgments (failure to detect real suspension) caused by improper sensor spacing. The sensor layout can adapt to photovoltaic panels with different installation angles, improving the applicability of the robot in various environments.

[0044] 3. When the robot recognizes the suspended edge, it automatically updates the cleaning map and re-plans the running route to continue the cleaning task to avoid the suspended area, reducing the interruption time caused by handling obstacles, ensuring the continuity and integrity of the cleaning task, reducing the cost of manual intervention and the complexity of operation, and improving adaptability and flexibility under different environmental conditions.

[0045] 4. The automatic obstacle avoidance program, including the retreat program and the rotation program, enables the photovoltaic cleaning robot to quickly make the most appropriate obstacle avoidance action according to the specific situation of the suspension, reduce the stay time in the dangerous area, further improve the robot's autonomy and intelligence level, and can quickly resume normal operation after avoiding obstacles to ensure the efficiency of cleaning work. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a flow chart of the suspension detection method of the photovoltaic cleaning robot of the present invention;

[0047] Figure 2 is a schematic diagram of a photovoltaic cleaning robot of the present invention;

[0048] Figure 3 is a schematic diagram of the photovoltaic cleaning robot of the present invention in a suspended state;

[0049] In the figure, 1 is a machine body, 2 is a cleaning unit, 3 is a walking unit, 4 is an adsorption unit, 40 is a floating plate, 5 is a suspended detection unit, 51 is a first sensor, and 52 is a second sensor. DETAILED DESCRIPTION

[0050] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given here are only used to illustrate and explain the present invention, and cannot be used to limit the present invention.

[0051] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention may also have other implementations and variations thereof. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0052] like Figure 1 to Figure 2 As shown, a method for detecting and controlling a photovoltaic cleaning robot in mid-air comprises the following steps:

[0053] S100 Installing a photovoltaic cleaning robot: The photovoltaic cleaning robot includes a body 1, a cleaning unit 2, a walking unit 3, an adsorption unit 4, a suspension detection unit 5 and a control unit (not shown in the figure). Along the cleaning direction, two cleaning units 2 are provided, which are symmetrically arranged on the front and rear sides of the body 1, and two walking units 3 are provided, which are symmetrically arranged on the left and right sides of the body 1. The body 1 is provided with a plurality of adsorption units 4, and the adsorption unit 4 includes a floating plate 40 in contact with the working surface and a fan assembly (not shown in the figure) for causing the floating plate 40 and the working surface to generate negative pressure and adsorb each other. The fan assembly sucks air to form negative pressure so that the floating plate 40 is adsorbed on the working surface; the suspension detection unit 5 includes a first sensor 51 and a second sensor 52. Each cleaning unit 2 is provided with a first sensor 51 on the left and right sides of the bottom, and each walking unit 3 is provided with a second sensor 52 on the front and rear sides of the bottom. The first and second sensors are electrically connected to the control unit;

[0054] The cleaning units 2 symmetrically arranged on the front and rear sides of the body 1 can perform cleaning work at the same time, ensuring that the photovoltaic cleaning robot fully covers the photovoltaic panels during movement, reducing cleaning blind spots, and improving the efficiency of cleaning work; the first sensor 51 and the second sensor 52 are distributed at the bottom of the cleaning unit 2 and the walking unit 3, providing all-round suspension detection, thereby increasing the safety of the photovoltaic cleaning robot.

[0055] S101 data initialization: setting the running speed v, running route and fall safety threshold h', and performing zero point calibration on the first sensor 51 and the second sensor 52;

[0056] S102 real-time monitoring: during the operation of the photovoltaic cleaning robot, the first sensor 51 and the second sensor 52 continuously monitor the distance between them and the working surface, respectively obtain the actual distance signal h1 and the actual distance signal h2 and feed them back to the control unit to form a cleaning map;

[0057] S103 state determination and safety response: the control unit analyzes the state of the photovoltaic cleaning robot according to the signal obtained in real time in step S102 and responds;

[0058] When 0≤h1≤h' and h2≤h', it is determined that there is a drop ahead, and the drop is within the acceptable range of the photovoltaic cleaning robot. The control unit does not respond, and the photovoltaic cleaning robot continues to move forward according to the set running route and the set running speed v;

[0059] When h1>h' and h2≤h', it is determined to be a critical state of the suspended edge, the control unit responds with a deceleration, and the photovoltaic cleaning robot decelerates and moves forward slowly according to the set running route;

[0060] When h1>h' and h2>h', it is determined to be a dangerous state of the suspended edge, and the control unit responds with an emergency stop and notifies the operator through the remote control system, starting the automatic obstacle avoidance program to keep the photovoltaic cleaning robot away from the suspended edge;

[0061] In other cases, the control unit does not respond, and the photovoltaic cleaning robot continues to move forward according to the set running route and the set running speed v;

[0062] S104 state adjustment: the photovoltaic cleaning robot adjusts its position according to the instructions of the automatic obstacle avoidance program until all actual distance signals h1 and actual distance signals h2 are less than the fall safety threshold h', turns off the automatic obstacle avoidance program, and restores the running speed to the set running speed v;

[0063] S105 updates the cleaning map: marks the coordinate positions that cause the photovoltaic cleaning robot to be judged as being in a critical state of an overhanging edge and a dangerous state of an overhanging edge in the cleaning map, obtains an updated cleaning map, replans the operation route in the updated cleaning map, obtains the target operation route, and the photovoltaic cleaning robot continues to complete the cleaning task according to the target operation route.

[0064] In this specific embodiment, the photovoltaic cleaning robot of the present invention is used for cleaning work in a photovoltaic panel power station in Inner Mongolia. A first sensor 51 is provided on the left and right sides of the bottom of each cleaning unit 2, and a second sensor 52 is provided on the front and back sides of the bottom of each walking unit 3, that is, a total of 4 first sensors 51 and 4 second sensors 52 are involved in the suspension detection, and 4 adsorption units 4 are arranged on the body 1 to provide a more stable adsorption force. The distance a1 from the edge of the adsorption unit 4 in the short side direction to the edge of the short side of the photovoltaic cleaning robot is 200mm, and the distance a2 from the edge of the adsorption unit 4 in the long side direction to the edge of the long side of the photovoltaic cleaning robot is 300mm; the optimal installation inclination angle of the Inner Mongolia photovoltaic panel is 45°, and the standard gap a3 of the photovoltaic panel is 20mm. A photovoltaic cleaning robot with a body length of 1.0m, a width of 0.7m, and a height of 260mm is selected for cleaning work.

[0065] Initialize the data of the photovoltaic cleaning robot: set the running speed to 0.5m / s, the running route, and set the fall safety threshold h' to the standard thickness of the photovoltaic panel h 标 , i.e. 35 mm, the first sensor 51 and the second sensor 52 are calibrated at zero point;

[0066] Real-time monitoring, status determination and safety response: The first sensor 51 and the second sensor 52 use laser radar to obtain the actual distance signal h1 and the actual distance signal h2 respectively, and feed them back to the control unit to form a cleaning map. The control unit analyzes the status of the photovoltaic cleaning robot according to the real-time acquired signals and makes corresponding responses:

[0067] When 0≤h1≤35mm and h2≤35mm, it is determined that there is a drop in front, and the control unit does not respond;

[0068] When h1>35mm and h2≤35mm, it is judged as the critical state of the suspended edge, and the control unit responds by decelerating and reducing the running speed to 0.2m / s;

[0069] When h1>35mm and h2>35mm, it is judged as a dangerous state of suspended edge, and the control unit makes an emergency stop response and starts the automatic obstacle avoidance program to keep the photovoltaic cleaning robot away from the suspended edge;

[0070] In other cases, the control unit does not respond;

[0071] By setting the first sensor 51 and the second sensor 52 to monitor the distance between the photovoltaic cleaning robot and the working surface in real time, the control unit jointly analyzes the distance signals recognized by the two sensors, and divides its working state into a gap in front, a critical state of the suspended edge, and a dangerous state of the suspended edge. The control unit responds to the corresponding deceleration and automatic obstacle avoidance according to the different working states. The present invention can more accurately identify the real suspended area, avoid the normal connection gap between the photovoltaic panels being misjudged as suspended, resulting in premature cessation of the cleaning operation; it also avoids the extreme situation that the obstacle avoidance response is made only after the fuselage inclination angle exceeds the safety threshold and is in a more dangerous state, ensuring that the photovoltaic cleaning robot works safely without falling, while allowing the cleaning operation to cover as many photovoltaic panel areas as possible, thereby improving the cleaning efficiency.

[0072] As a preferred embodiment of the present invention, the installation distance between the first sensor 51 and the second sensor 52 should be within a safe range. The installation distance is determined by the center of gravity position and size of the photovoltaic cleaning robot and the inclination angle of the photovoltaic panel, and is controlled by the lateral safety distance threshold x and the longitudinal safety distance threshold y and satisfies the following relationship:

[0073] Lateral safety distance threshold x:

[0074] x≤Bh×tanθ

[0075] Longitudinal safety distance threshold y:

[0076] y≤Lh×tanθ

[0077] Among them, the lateral safety distance threshold x is the installation spacing threshold of the first sensor 51 and the second sensor 52 of the photovoltaic cleaning robot in the short side direction, the longitudinal safety distance threshold y is the installation spacing threshold of the first sensor 51 and the second sensor 52 of the photovoltaic cleaning robot in the long side direction, B is the smaller value of the distance between the lateral edge of the photovoltaic cleaning robot and its center of gravity, L is the smaller value of the distance between the longitudinal edge of the photovoltaic cleaning robot and its center of gravity, h is the height of the center of gravity of the photovoltaic cleaning robot, and θ is the inclination angle of the photovoltaic panel;

[0078] Secondly, to ensure that the adsorption units 4 work effectively, the lateral safety distance threshold x and the longitudinal safety distance threshold y should also satisfy the following relationship:

[0079] Lateral safety distance threshold x:

[0080] x≤a1

[0081] Longitudinal safety distance threshold y:

[0082] y≤a2

[0083] Wherein, a1 is the distance from the edge of the adsorption unit 4 in the short side direction to the edge of the short side of the photovoltaic cleaning robot, and a2 is the distance from the edge of the adsorption unit 4 in the long side direction to the edge of the long side of the photovoltaic cleaning robot;

[0084] In addition, to ensure that the photovoltaic cleaning robot can successfully cross the standard gap a3 between photovoltaic panels, the lateral safety distance threshold x and the longitudinal safety distance threshold y should both be greater than the standard gap a3, that is, x and y satisfy the following relationship:

[0085] Lateral safety distance threshold x:

[0086]

[0087] Longitudinal safety distance threshold y:

[0088]

[0089] In this embodiment, the fuselage length of the photovoltaic cleaning robot is 1.0m, the width is 0.7m, and the height is 260mm. The inclination angle θ of the photovoltaic panel is 45°, and the standard gap a3 of the photovoltaic panel is 20mm. In order to ensure the stability and safety of the travel process, the photovoltaic cleaning machines on the market are generally designed with a weight distribution form of light on the top and heavy on the bottom, that is, the center of gravity is below the middle of the fuselage height. Based on safety considerations, this embodiment considers a more unfavorable situation relative to the actual situation, and sets the center of gravity of the photovoltaic cleaning robot to the middle of the fuselage height, that is, the center of gravity height h is 130mm; due to the symmetrical distribution design of the cleaning unit, walking unit, adsorption unit, suspension detection unit and control unit of the photovoltaic cleaning robot of this embodiment, the weight distribution of the photovoltaic cleaning robot in the longitudinal and transverse directions is uniform, so the center of gravity is set in the middle of the longitudinal and transverse directions, that is, B is 0.35m, and L is 0.5m. Therefore, the lateral safety distance threshold x and the longitudinal safety distance threshold y are controlled and satisfy the following relationship:

[0090] Lateral safety distance threshold x:

[0091]

[0092] Longitudinal safety distance threshold y:

[0093]

[0094] Based on safety considerations, the installation spacing between the first lateral sensor 51 and the second sensor 52 of the photovoltaic cleaning robot of this embodiment should be less than or equal to the lateral safety distance threshold x, which is 150 mm, and the installation spacing between the first longitudinal sensor 51 and the second sensor 52 should be less than or equal to the longitudinal safety distance threshold y, which is 200 mm.

[0095] The safety distance threshold between the first sensor 51 and the second sensor 52 is determined based on factors such as the center of gravity distribution and size of the photovoltaic cleaning robot, the distribution of the adsorption unit 4, and the inclination angle of the photovoltaic panel. The layout of the sensors is optimized, and the coverage and accuracy of sensor monitoring are improved. The misjudgment (normal gaps are judged as suspended) and missed judgment (failure to detect actual suspension) caused by improper sensor spacing are reduced. The sensor layout can adapt to photovoltaic panels with different installation angles, thereby improving the applicability of the robot in various environments.

[0096] Specifically, the standard gap a3 between the photovoltaic panels is 15 mm to 25 mm. In addition to the standard gap a3 of 20 mm selected in this embodiment, some embodiments may also select the standard gap a3 to be 15 mm or 25 mm.

[0097] As a preferred embodiment of the present invention, the fall safety threshold h' in step S101 is the standard thickness h of the photovoltaic panel. 标 .

[0098] The standard thickness of photovoltaic panels h 标 The drop safety threshold h' helps the photovoltaic cleaning robot adapt to the specifications of photovoltaic panels in any photovoltaic power station, so that it can maintain consistent working performance in various environments. For power stations using photovoltaic panels of non-standard sizes or special designs, the drop safety threshold h' can be adjusted to adapt to the specific sizes of these photovoltaic panels, providing greater flexibility and ensuring that the photovoltaic cleaning robot can operate safely in various environments.

[0099] Specifically, the standard thickness of the photovoltaic panel h 标 In addition to the standard thickness h selected in this embodiment 标 35 mm, some embodiments may also select a standard thickness h 标 It is 30mm.

[0100] As a preferred embodiment of the present invention, in step S101, the first sensor 51 and the second sensor 52 are any one of a laser radar, an ultrasonic radar, and an infrared range finder.

[0101] Lidar can provide more accurate distance measurement, can detect longer distances, and is suitable for large photovoltaic array applications; ultrasonic radar has better adaptability to outdoor environments, such as direct sunlight, and is cheaper than Lidar, and is suitable for short-distance detection; infrared rangefinders are not affected by changes in light, can work at night, and provide 24-hour detection. Users can choose the most suitable sensor according to different environmental conditions and application requirements.

[0102] Specifically, the set running speed v of the photovoltaic cleaning robot in step S101 is 0.5 m / s, and the deceleration response in step S103 is to reduce the running speed to 0.2 m / s.

[0103] As a preferred embodiment of the present invention, the automatic obstacle avoidance program in step S103 includes a retreat program and a rotation program. The retreat program is that the photovoltaic cleaning robot retreats along the set running route, and the rotation program is that the photovoltaic cleaning robot performs a left spin or a right spin. When two actual distance signals h1 and two actual distance signals h2 are both greater than h' at the same time, the control unit starts the retreat program; when an actual distance signal h1 and an actual distance signal h2 are both greater than h', the control unit starts the rotation program, and the rotation direction is the opposite direction of the coordinate position where the dangerous state of the hanging edge occurs.

[0104] The automatic obstacle avoidance program, including the retreat program and the rotation program, enables the photovoltaic cleaning robot to quickly make the most appropriate obstacle avoidance action according to the specific situation of the suspension, reduce the stay time in the dangerous area, further improve the robot's autonomy and intelligence level, and can quickly resume normal operation after avoiding obstacles to ensure the efficiency of the cleaning work.

[0105] As a preferred embodiment of the present invention, the target running route in step S105 is a route for cleaning the area to be cleaned in the cleaning map.

[0106] It should be understood that the above-mentioned embodiments are one or more embodiments of the present invention, and there are many other embodiments and variations thereof based on the present invention; the variations and modifications made by ordinary technicians in this industry through the present invention without making pioneering innovations all fall within the scope of protection of the present invention.

Claims

1. A method for detecting and controlling a photovoltaic cleaning robot in mid-air, characterized in that The following steps are involved: S100 Installing a photovoltaic cleaning robot: The photovoltaic cleaning robot includes a body, a cleaning unit, a walking unit, an adsorption unit, a suspension detection unit and a control unit. Along the cleaning direction, the cleaning units are provided with two, which are symmetrically arranged on the front and rear sides of the body respectively. The walking units are provided with two, which are symmetrically arranged on the left and right sides of the body respectively. The body is provided with a plurality of adsorption units. The adsorption unit includes a floating plate in contact with the working surface and a fan assembly for causing the floating plate and the working surface to generate negative pressure and adsorb each other. The fan assembly sucks air to form negative pressure so that the floating plate is adsorbed on the working surface; the suspension detection unit includes a first sensor and a second sensor. Each of the first sensors is provided at the left and right sides of the bottom of each cleaning unit. Each of the second sensors is provided at the front and rear sides of the bottom of each walking unit. The first and second sensors are electrically connected to the control unit. S101 data initialization: setting the running speed v, running route and fall safety threshold h', and performing zero point calibration on the first sensor and the second sensor; The installation distance between the first sensor and the second sensor should be within a safe range. The installation distance is determined by the center of gravity position, size and inclination angle of the photovoltaic panel of the photovoltaic cleaning robot, and is controlled by the lateral safety distance threshold x and the longitudinal safety distance threshold y and satisfies the following relationship: Lateral safety distance threshold x: x≤Bh×tanθ Longitudinal safety distance threshold y: y≤Lh×tanθ Among them, the lateral safety distance threshold x is the installation spacing threshold of the first sensor and the second sensor of the photovoltaic cleaning robot in the short side direction, the longitudinal safety distance threshold y is the installation spacing threshold of the first sensor and the second sensor of the photovoltaic cleaning robot in the long side direction, B is the smaller value of the distance between the lateral edge of the photovoltaic cleaning robot and its center of gravity, L is the smaller value of the distance between the longitudinal edge of the photovoltaic cleaning robot and its center of gravity, h is the height of the center of gravity of the photovoltaic cleaning robot, and θ is the inclination angle of the photovoltaic panel; Secondly, to ensure that the adsorption units all work effectively, the lateral safety distance threshold x and the longitudinal safety distance threshold y should also satisfy the following relationship: Lateral safety distance threshold x: x≤a1 Longitudinal safety distance threshold y: y≤a2 Wherein, a1 is the distance from the edge of the adsorption unit in the short side direction to the edge of the short side of the photovoltaic cleaning robot, and a2 is the distance from the edge of the adsorption unit in the long side direction to the edge of the long side of the photovoltaic cleaning robot; In addition, to ensure that the photovoltaic cleaning robot can successfully cross the standard gap a3 between the photovoltaic panels, the lateral safety distance threshold x and the longitudinal safety distance threshold y should both be greater than the standard gap a3, that is, x and y satisfy the following relationship: Lateral safety distance threshold x: Longitudinal safety distance threshold y: S102 real-time monitoring: during the operation of the photovoltaic cleaning robot, the first sensor and the second sensor continuously monitor the distance between them and the working surface, respectively obtain the actual distance signal h1 and the actual distance signal h2 and feed them back to the control unit to form a cleaning map; S103 state determination and safety response: the control unit analyzes the state of the photovoltaic cleaning robot according to the signal acquired in real time in step S102 and responds; When 0≤h1≤h' and h2≤h', it is determined that there is a drop ahead, and the drop is within the acceptable range of the photovoltaic cleaning robot, the control unit does not respond, and the photovoltaic cleaning robot continues to move forward according to the set running route and the set running speed v; When h1>h' and h2≤h', it is determined to be a critical state of the suspended edge, the control unit responds with a deceleration, and the photovoltaic cleaning robot decelerates and moves slowly along the set running route; When h1>h' and h2>h', it is determined to be a dangerous state of an overhanging edge, the control unit makes an emergency stop response and notifies the operator through the remote control system, starts the automatic obstacle avoidance program, and keeps the photovoltaic cleaning robot away from the overhanging edge; In other cases, the control unit does not respond, and the photovoltaic cleaning robot continues to move forward according to the set running route and the set running speed v; S104 state adjustment: the photovoltaic cleaning robot adjusts its position according to the instruction of the automatic obstacle avoidance program until all the actual distance signals h1 and the actual distance signals h2 are less than the fall safety threshold h', turns off the automatic obstacle avoidance program, and restores the running speed to the set running speed v; S105 updates the cleaning map: marks the coordinate positions that cause the photovoltaic cleaning robot to be judged as a critical state of a hanging edge and a dangerous state of a hanging edge in the cleaning map, obtains an updated cleaning map, replans the operation route in the updated cleaning map, obtains the target operation route, and the photovoltaic cleaning robot continues to complete the cleaning task according to the target operation route.

2. The method for detecting and controlling a photovoltaic cleaning robot in mid-air according to claim 1, characterized in that: The standard gap a3 between photovoltaic panels is 15 mm to 25 mm.

3. The method for detecting and controlling a photovoltaic cleaning robot in mid-air according to claim 1, characterized in that: The fall safety threshold h' in step S101 is the standard thickness h of the photovoltaic panel. 标 .

4. The method for detecting and controlling a photovoltaic cleaning robot in mid-air according to claim 3, characterized in that: The standard thickness of the photovoltaic panel h 标 It is 30mm~35mm.

5. The method for detecting and controlling a photovoltaic cleaning robot in mid-air according to claim 1, characterized in that: In step S101, the first sensor and the second sensor are any one of a laser radar, an ultrasonic radar, and an infrared range finder.

6. The method for detecting and controlling a photovoltaic cleaning robot in mid-air according to claim 1, characterized in that: The set running speed v of the photovoltaic cleaning robot in step S101 is 0.5 m / s, and the deceleration response in step S103 is to reduce the running speed to 0.2 m / s.

7. The method for detecting and controlling a photovoltaic cleaning robot in mid-air according to claim 1, characterized in that: The automatic obstacle avoidance program in step S103 includes a retreat program and a rotation program. The retreat program is for the photovoltaic cleaning robot to retreat along the set running route, and the rotation program is for the photovoltaic cleaning robot to perform a left spin or a right spin. When the two actual distance signals h1 and the two actual distance signals h2 are both greater than h' at the same time, the control unit starts the retreat program; when one actual distance signal h1 and one actual distance signal h2 are both greater than h', the control unit starts the rotation program, and the rotation direction is the opposite direction of the coordinate position where the dangerous state of the hanging edge occurs.

8. The method for detecting and controlling a photovoltaic cleaning robot in mid-air according to claim 1, characterized in that: The target running route in step S105 is a route for cleaning the area to be cleaned in the cleaning map.

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