Robot gap crossing method, electronic device and photovoltaic panel cleaning robot

Abstract

This application relates to a robot gap-crossing method, electronic equipment, and a photovoltaic panel cleaning robot. The robot gap-crossing method includes: using a Time-of-Flight (TOF) module to acquire gap detection information between a first photovoltaic panel and a second photovoltaic panel adjacent to it in a preset forward direction; obtaining a predicted position of the main suction cup on the second photovoltaic panel based on the gap detection information; when the predicted position meets the adsorption requirements, executing a preset crossing command using a suction cup walking mechanism to move the main suction cup onto the second photovoltaic panel; when the predicted position does not meet the adsorption requirements, acquiring a crossing adjustment strategy based on the gap detection information, and generating a crossing adjustment command based on the crossing adjustment strategy to make the predicted position meet the adsorption requirements; then, executing the preset crossing command using the suction cup walking mechanism to move the main suction cup onto the second photovoltaic panel. This application uses a TOF module to predict the position of the main suction cup, determine whether it meets the adsorption requirements, and make corresponding adjustments.

Description

Technical Field

[0001] This invention relates to the technical field of cleaning equipment, and more particularly to a robot gap-crossing method, electronic equipment, and a photovoltaic panel cleaning robot. Background Technology

[0002] Photovoltaic power generation is a sustainable and renewable clean energy source, requiring a large number of photovoltaic panels to form solar cell arrays. If dust or snow adheres to the surface of these panels, it will affect the light transmittance and reduce power generation efficiency. Dust can also locally reduce the power generation efficiency of the photovoltaic panels. Various cleaning robots are available on the market for cleaning photovoltaic panels. However, the spacing between the panels presents obstacles for these robots.

[0003] Based on this, patent application CN201610416750.6 provides a photovoltaic panel cleaning machine. When encountering gaps between photovoltaic panels or differences in height, the obstacle-crossing wheel can be driven by a third motor to cross obstacles. When obstacle crossing is required, the clutch can be engaged and the third motor can be started to transmit driving force to the obstacle-crossing wheel, forcing it to roll and move until the obstacle is crossed. However, the obstacle-crossing wheel may cause wear or damage to the surface of the photovoltaic panel when forcibly crossing obstacles.

[0004] Patent application CN202220231220.5 discloses a suction cup walking mechanism. A laser sensor is positioned on the secondary walking arm near the second suction cup. This laser sensor can detect the outer frame of the photovoltaic panel, preventing the second suction cup from adhering to the outer frame of the photovoltaic panel, thus avoiding unstable or even non-adhering adhesion, and preventing wear or damage to the photovoltaic panel surface. However, in practical use, it has been found that the solar cell array has an angle relative to the plane. When the cleaning robot cleans the photovoltaic panels along this angle, it is prone to slight downward sliding. Therefore, the position of the first suction cup varies depending on the photovoltaic panel, resulting in the first suction cup adhering to the outer frame of the photovoltaic panel, requiring frequent manual adjustments.

[0005] Therefore, there is an urgent need to provide methods for robots to cross gaps, electronic devices, and photovoltaic panel cleaning robots to solve the above-mentioned technical problems. Summary of the Invention

[0006] This application provides a robot gap-crossing method, electronic device, and photovoltaic panel cleaning robot to solve the problem in related technologies that only focus on whether the second suction cup will adhere to the outer frame of the photovoltaic panel, which may cause the first suction cup to adhere to the outer frame of the photovoltaic panel.

[0007] To achieve the above objectives, this application employs the following technical solution:

[0008] This application provides a robot gap crossing method, which is applicable to a photovoltaic panel cleaning robot. The photovoltaic panel cleaning robot includes a robot body and a suction cup walking mechanism. The suction cup walking mechanism includes a TOF module, a main walking arm and two auxiliary walking arms. The suction cup walking mechanism is used to enable the photovoltaic panel cleaning robot to move on the photovoltaic panel.

[0009] The main walking arm includes a main suction cup located below the robot body, which is used to adjust the walking direction of the cleaning robot; the auxiliary walking arms are located at both ends of the robot body, each auxiliary walking arm is equipped with an auxiliary suction cup, and the auxiliary suction cups on the two auxiliary walking arms are symmetrically arranged with the main suction cup as the center; the TOF modules are respectively set on the auxiliary suction cups near the main suction cup;

[0010] The robot gap-crossing method includes:

[0011] After the first photovoltaic panel completes its cleaning task, the TOF module is used to obtain gap detection information between the first photovoltaic panel and the second photovoltaic panel adjacent to the preset forward direction.

[0012] The predicted position of the main suction cup on the second photovoltaic panel is obtained based on the gap detection information;

[0013] When the predicted position meets the adsorption requirements, the suction cup walking mechanism executes a preset crossing command to move the main suction cup to the second photovoltaic panel; the adsorption requirements refer to the fact that the gap between the predicted position and the adjacent photovoltaic panel does not overlap.

[0014] When the predicted position does not meet the adsorption requirements, a crossing adjustment strategy is obtained based on the gap detection information, and a crossing adjustment command is generated based on the crossing adjustment strategy to make the predicted position meet the adsorption requirements; then the suction cup walking mechanism is used to execute the crossing preset command to move the main suction cup to the second photovoltaic panel.

[0015] The beneficial effects of this technical solution lie in using the existing TOF module to predict the position of the main suction cup, assess whether it meets the adsorption requirements, and make corresponding adjustments. This reduces manual intervention and improves cleaning efficiency through automated gap detection and crossing strategies. It can automatically adjust according to the actual layout and gap conditions of the photovoltaic panels, enhancing adaptability to different environments. Precise gap detection and position prediction prevent unnecessary damage to the photovoltaic panels during the crossing process. The photovoltaic panel cleaning robot can execute preset crossing commands based on the actual gap conditions, avoiding the problem of the first suction cup potentially adhering to the outer frame of the photovoltaic panel, reducing wasted time and energy consumption during cleaning.

[0016] Preferably, the two auxiliary walking arms extend and retract along their central axes in a direction away from or towards the main suction cup, respectively, to adjust the distance between the auxiliary suction cup and the main suction cup; the step of using the TOF module to obtain gap detection information between the first photovoltaic panel and the second photovoltaic panel adjacent in the preset forward direction includes:

[0017] S1, by utilizing the telescopic movement of the two auxiliary walking arms of the suction cup walking mechanism, the photovoltaic panel cleaning robot moves on the photovoltaic panel in a preset forward direction;

[0018] S2, when the TOF module cannot detect the photovoltaic panel, it records the distance and controls the extension of the auxiliary walking arm where the TOF module is located;

[0019] S3, if the TOF module still cannot detect the photovoltaic panel after the extension reaches its maximum value, reset the distance record and control the auxiliary walking arm to the retracted state, and use the suction cup walking mechanism to move the main suction cup a preset distance in the preset forward direction; the preset distance is not less than the coverage distance of the auxiliary suction cup; repeat S1.

[0020] S4. If the TOF module detects the photovoltaic panel during the extension process, the distance recording ends and the recorded distance data is used as gap detection information.

[0021] The beneficial effects of this technical solution are that, through the extension and retraction of the auxiliary walking arm and the detection of the TOF module, the gaps between photovoltaic panels can be identified and measured more accurately, thus allowing for more precise crossing of these gaps. The photovoltaic panel cleaning robot can automatically adjust its walking strategy based on the actual detected gap information, improving its adaptability to different photovoltaic panel gaps. Automated gap detection and crossing strategies reduce cleaning interruptions caused by excessively large gaps, improving cleaning continuity and efficiency. Simultaneously, automated gap detection and crossing reduce the need for manual inspection and adjustment, lowering maintenance costs and improving operational convenience. Accurate gap detection and crossing strategies reduce potential errors and malfunctions during cleaning, improving the reliability of the photovoltaic panel cleaning robot.

[0022] Preferably, the main walking arm further includes a rotary drive device, which is used to control the robot body and the auxiliary walking arm to rotate around the main suction cup adsorbed on the photovoltaic panel as the center; the auxiliary walking arm is also provided with a roller brush that contacts the photovoltaic panel; the two auxiliary walking arms are fully extended as the first state, and the two auxiliary walking arms are fully retracted as the second state.

[0023] The cleaning task includes: in the first state and the second state, the auxiliary walking arm is controlled to rotate by the rotary drive device, so that the roller brush can clean the photovoltaic panel when it rotates.

[0024] The beneficial effects of this technical solution are that by controlling the rotation of the auxiliary walking arm through a rotary drive device, it can quickly clean large-area photovoltaic panels, improving cleaning efficiency. The telescopic function of the auxiliary walking arm can adapt to photovoltaic panels of different widths, increasing the versatility and flexibility of the photovoltaic panel cleaning robot. The design of the rotary drive device and the roller brush can provide uniform and continuous cleaning force, improving cleaning quality.

[0025] Preferably, if the distance record is reset and the auxiliary walking arm is retracted when the TOF module still cannot detect the photovoltaic panel after reaching its maximum extension, and the main suction cup is moved a preset distance in a preset forward direction using the suction cup walking mechanism, the following steps are included:

[0026] If the TOF module still cannot detect the photovoltaic panel when the gap is extended to its maximum value, the actual distance of the gap is determined based on the distance record to see if it is less than the preset maximum distance of the gap.

[0027] When the distance is less than the preset maximum distance of the gap, the distance record is reset and the auxiliary walking arm is controlled to retract, and the main suction cup is moved a preset distance in the preset forward direction by the suction cup walking mechanism.

[0028] When the distance is not less than the preset maximum distance of the gap, it is determined that there is no second photovoltaic panel adjacent to the first photovoltaic panel in the preset forward direction, an alarm message is generated and sent to the user equipment; the photovoltaic panel cleaning robot is then put into standby mode.

[0029] The beneficial effects of this technical solution are that by comparing the preset maximum gap distance with the actual gap distance, it can prevent the photovoltaic panel cleaning robot from performing dangerous operations in excessively large gaps, thus improving operational safety. Timely sending of alarm information allows users to understand the robot's working status and any problems encountered, enhancing the user experience. In special circumstances, the robot can automatically enter standby mode, awaiting user commands, reducing the risk of equipment damage due to erroneous operation.

[0030] Preferably, obtaining the predicted position of the main suction cup on the second photovoltaic panel based on the gap detection information includes:

[0031] Based on the gap detection information, the gap width between the first photovoltaic panel and the second photovoltaic panel, as well as the distance between the main suction cup and the gap, are obtained.

[0032] Obtain a second moving distance, which is the maximum distance that the main suction cup can move toward the second photovoltaic panel;

[0033] Based on the second moving distance, the distance between the main suction cup and the gap, the width of the gap, and the coverage distance of the main suction cup, the predicted position of the main suction cup on the second photovoltaic panel is obtained.

[0034] The beneficial effects of this technical solution are that it reduces human intervention and improves the efficiency and accuracy of cleaning work through automated gap detection and position prediction. Accurate gap detection and crossing strategies reduce potential errors and malfunctions during the cleaning process, thus improving the robot's reliability.

[0035] Preferably, the suction cup walking mechanism includes an encoder, which is used to acquire the moving distance of the main walking arm and the auxiliary walking arm. The method for acquiring the second moving distance includes:

[0036] The code disk is used to obtain the movement distance of the auxiliary walking arm during the gap detection process and is used as the first movement distance; based on the first movement distance, the maximum distance that the main suction cup can move towards the second photovoltaic panel is obtained and is used as the second movement distance.

[0037] The beneficial effect of this technical solution is that the use of the encoder provides a method for accurately measuring the moving distance of the walking arm. By accurately measuring the first moving distance, the second moving distance can be calculated more accurately, thereby accurately predicting the adsorption position of the main suction cup on the second photovoltaic panel. This process does not require the addition of new sensor components, saving costs.

[0038] This application also provides an electronic device including one or more processors and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors according to any of the methods described above.

[0039] This application also provides a photovoltaic panel cleaning robot, which includes a robot body and a suction cup walking mechanism, and further includes the aforementioned electronic equipment.

[0040] Preferably, the TOF module includes a TOF laser sensor.

[0041] Preferably, the auxiliary walking arm is also provided with a roller brush that contacts the photovoltaic panel, so as to achieve photovoltaic panel cleaning when the rotation drive device controls the rotation of the robot body and the auxiliary walking arm. Attached Figure Description

[0042] The present application will be further described below with reference to the accompanying drawings and embodiments.

[0043] Figure 1 A flowchart illustrating a robot gap-crossing method provided in an embodiment of this application is shown.

[0044] Figure 2 A structural block diagram of a photovoltaic panel cleaning robot provided in an embodiment of this application is shown.

[0045] Figure 3This illustration shows a flowchart of a gap detection information acquisition process provided in an embodiment of this application.

[0046] Figure 4a A schematic diagram of the structure of a photovoltaic panel cleaning robot provided in the first state according to an embodiment of this application is shown.

[0047] Figure 4b A schematic diagram of the structure of a photovoltaic panel cleaning robot provided in the embodiment of this application in the second state is shown.

[0048] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0049] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0051] This application provides a method for robot gap crossing, electronic equipment, and a photovoltaic panel cleaning robot. Considering that when the cleaning robot performs cleaning operations on inclined photovoltaic panels, it may ignore the first suction cup (i.e., the main suction cup) and only focus on whether the second suction cup (i.e., the auxiliary suction cup) will adhere to the outer edge of the photovoltaic panel, potentially causing the first suction cup to adhere to the outer edge, this application does not adopt a solution that adds a new gap detection device to the first suction cup (increasing hardware investment). Instead, it utilizes an existing Time-of-Flight (TOF) module to determine the gap crossing ability of the first suction cup, thus solving the aforementioned problem. The method will be described first, followed by descriptions of the equipment and the photovoltaic panel cleaning robot.

[0052] Method implementation examples.

[0053] See Figure 1 and Figure 2 , Figure 1 A flowchart illustrating a robot gap-crossing method provided in an embodiment of this application is shown. Figure 2 A structural block diagram of a photovoltaic panel cleaning robot provided in an embodiment of this application is shown.

[0054] This embodiment provides a robot gap crossing method, which is applicable to a photovoltaic panel cleaning robot. The photovoltaic panel cleaning robot includes a robot body and a suction cup walking mechanism. The suction cup walking mechanism includes a TOF module, a main walking arm and two auxiliary walking arms. The suction cup walking mechanism is used to enable the photovoltaic panel cleaning robot to move on the photovoltaic panel.

[0055] The main walking arm includes a main suction cup located below the robot body, which is used to adjust the walking direction of the cleaning robot; the auxiliary walking arms are located at both ends of the robot body, each auxiliary walking arm is equipped with an auxiliary suction cup, and the auxiliary suction cups on the two auxiliary walking arms are symmetrically arranged with the main suction cup as the center; the TOF modules are respectively set on the auxiliary suction cups near the main suction cup;

[0056] The robot gap-crossing method includes:

[0057] S101, after the first photovoltaic panel has completed the cleaning task, the TOF module is used to obtain the gap detection information between the first photovoltaic panel and the second photovoltaic panel adjacent to the preset forward direction;

[0058] S102, Based on the gap detection information, obtain the predicted position of the main suction cup on the second photovoltaic panel;

[0059] S103, when the predicted position meets the adsorption requirement, the suction cup walking mechanism executes a preset crossing command to move the main suction cup to the second photovoltaic panel; the adsorption requirement means that the gap between the predicted position and the adjacent photovoltaic panel does not overlap;

[0060] S104, when the predicted position does not meet the adsorption requirements, a crossing adjustment strategy is obtained based on the gap detection information, and a crossing adjustment command is generated based on the crossing adjustment strategy to make the predicted position meet the adsorption requirements; then the suction cup walking mechanism is used to execute the crossing preset command to move the main suction cup to the second photovoltaic panel.

[0061] After completing the cleaning task of one photovoltaic panel, the robot uses a Time-of-Flight (TOF) module to detect gaps between second photovoltaic panels adjacent to the preset forward direction. The TOF module determines the distance by emitting light pulses and measuring the time it takes for them to reflect back, thus obtaining the width and position information of the gap. Based on the gap detection information, the robot calculates the predicted adsorption position of the main suction cup on the second photovoltaic panel, ensuring that the robot can smoothly transition from one photovoltaic panel to another during movement. It then determines whether the predicted position meets the adsorption requirements, i.e., the gap between the predicted position and the adjacent photovoltaic panel does not overlap, ensuring that the main suction cup can stably adhere to the second photovoltaic panel. If the predicted position meets the adsorption requirements, the robot uses the suction cup walking mechanism to execute a preset crossing command, moving the main suction cup to the second photovoltaic panel to complete the gap crossing. If the predicted position does not meet the adsorption requirements, a crossing adjustment strategy is obtained based on the gap detection information. The crossing adjustment strategy may include adjusting the position of the photovoltaic panel cleaning robot to ensure that the main suction cup can safely cross the gap. Then, a crossing adjustment command is generated based on the crossing adjustment strategy to make the predicted position meet the adsorption requirements. Based on the generated crossing adjustment command, the suction cup walking mechanism is used again to perform the crossing, ensuring that the main suction cup can be safely moved to the second photovoltaic panel.

[0062] Compared to existing technologies that only focus on the appropriateness of the secondary suction cup's adsorption position while ignoring whether the main suction cup's adsorption position overlaps with the gap after crossing it, this embodiment does not add new sensors. Instead, it uses the existing TOF module to predict the position of the main suction cup, assessing whether it meets the adsorption requirements and making corresponding adjustments. Thus, through automated gap detection and crossing strategies, manual intervention is reduced, improving cleaning efficiency. It can automatically adjust according to the actual photovoltaic panel layout and gap conditions, enhancing adaptability to different environments. Precise gap detection and position prediction prevent unnecessary damage to the photovoltaic panels during crossing. The photovoltaic panel cleaning robot can execute preset crossing commands based on the actual gap conditions, avoiding the problem of the first suction cup potentially adsorbing onto the outer frame of the photovoltaic panel, reducing wasted time and energy consumption during cleaning.

[0063] The main suction cup and auxiliary suction cup each include an air source, a telescopic mechanism, and a suction head. The telescopic mechanism (e.g., including a cylinder or spiral structure) moves the suction head closer to or away from the photovoltaic panel. The air source provides the suction head with a switchable suction force acting on the photovoltaic panel. The suction cup walking mechanism uses a motor to move the two auxiliary walking arms along their central axis in a direction away from or closer to the main suction cup. When the auxiliary walking arms are retracted and the main suction cup is attached to the photovoltaic panel, the auxiliary suction cups are controlled to move away from the photovoltaic panel, and the two auxiliary walking arms are controlled to extend in the same and opposite directions as the preset forward direction, respectively. Then, the two auxiliary suction cups are controlled to approach and attach to the photovoltaic panel, the main suction cup is controlled to detach and move away from the photovoltaic panel, the main walking arm containing the main suction cup is controlled to move towards the auxiliary walking arm in the preset forward direction, and then the main suction cup is controlled to approach and attach to the photovoltaic panel. This process is repeated so that the suction cup walking mechanism can move the photovoltaic panel cleaning robot on the photovoltaic panel. The motor may be equipped with an encoder, which can measure the rotation angle of the motor shaft, thereby indirectly measuring the movement distance of the walking arms. By acquiring data from the encoder, the movement distances of the auxiliary and main traveling arms can be obtained. The crossover adjustment command and the crossover preset command refer to the electrical signals that control the suction cup to detach from or adhere to the photovoltaic panel, switch the auxiliary traveling arm's state, and move the main traveling arm toward the auxiliary traveling arm, respectively, controlling the corresponding electrical components to move. These will not be elaborated upon in this application.

[0064] See Figure 3 , Figure 3 This illustration shows a flowchart of a gap detection information acquisition process provided in an embodiment of this application.

[0065] In some embodiments, the two auxiliary walking arms extend and retract along their central axes in a direction away from or towards the main suction cup, respectively, to adjust the distance between the auxiliary suction cup and the main suction cup; the step of using the TOF module to obtain gap detection information between the first photovoltaic panel and a second photovoltaic panel adjacent in a preset forward direction includes:

[0066] S201, by utilizing the telescopic movement of the two auxiliary walking arms of the suction cup walking mechanism, the photovoltaic panel cleaning robot moves on the photovoltaic panel in a preset forward direction;

[0067] S202, when the TOF module cannot detect the photovoltaic panel, it records the distance and controls the extension of the auxiliary walking arm where the TOF module is located;

[0068] S203, if the TOF module still cannot detect the photovoltaic panel after the extension reaches its maximum value, reset the distance record and control the auxiliary walking arm to the retracted state and use the suction cup walking mechanism to move the main suction cup a preset distance in the preset forward direction; the preset distance is not less than the coverage distance of the auxiliary suction cup; repeat S201.

[0069] S204, if the TOF module detects the photovoltaic panel during the extension process, the distance recording ends and the distance recorded data is used as gap detection information.

[0070] The robot moves across the photovoltaic panel in a preset direction by extending and retracting its secondary arm. The secondary arm can adjust the distance between the secondary suction cup and the main suction cup as needed. When the TOF module cannot detect the photovoltaic panel, it indicates that the robot may have reached the gap between the two panels, and it begins recording and controlling the extension of the secondary arm. If the secondary arm extends to its maximum length and the TOF module still cannot detect the photovoltaic panel, the distance recording will be reset, and the secondary arm will be retracted. Then, the main suction cup will be moved a preset distance in the preset forward direction using the suction cup walking mechanism. This distance is at least equal to the coverage distance of the secondary suction cup. Afterward, step S201 is executed again. If the TOF module detects the photovoltaic panel during the extension process, the distance recording will end, and the recorded distance data will be used as gap detection information. The coverage distance refers to the range of suction force originating from the center of the main or secondary suction cup. When there is a gap within this distance, the suction cup cannot adhere well to the surface of the photovoltaic panel.

[0071] Therefore, by extending and retracting the secondary walking arm and detecting gaps through the TOF module, the gaps between photovoltaic panels can be identified and measured more accurately, allowing for more precise crossing of these gaps. The photovoltaic panel cleaning robot can automatically adjust its walking strategy based on the detected gap information, improving its adaptability to different photovoltaic panel gaps. Automated gap detection and crossing strategies reduce cleaning interruptions caused by excessively large gaps, improving cleaning continuity and efficiency. Simultaneously, automated gap detection and crossing reduce the need for manual inspection and adjustment, lowering maintenance costs and improving operational convenience. Accurate gap detection and crossing strategies reduce potential errors and malfunctions during cleaning, improving the reliability of the photovoltaic panel cleaning robot.

[0072] See Figure 4a and Figure 4b , Figure 4a This illustration shows a schematic diagram of the structure of a photovoltaic panel cleaning robot in its first state, according to an embodiment of this application. Figure 4b A schematic diagram of the structure of a photovoltaic panel cleaning robot provided in the embodiment of this application in the second state is shown.

[0073] In some embodiments, the main walking arm further includes a rotary drive device for controlling the robot body and the auxiliary walking arm to rotate around the main suction cup adsorbed on the photovoltaic panel as the center; the auxiliary walking arm is also provided with a roller brush that contacts the photovoltaic panel; the two auxiliary walking arms are fully extended as the first state and fully retracted as the second state.

[0074] The cleaning task includes: in the first state and the second state, the auxiliary walking arm is controlled to rotate by the rotary drive device, so that the roller brush can clean the photovoltaic panel when it rotates.

[0075] The main walking arm is equipped with a rotary drive device that controls the rotation of the robot body and the auxiliary walking arm, rotating around the main suction cup. The auxiliary walking arm can extend and retract; fully extended is defined as the first state, and fully retracted is defined as the second state. The auxiliary walking arm is equipped with a roller brush that can contact the photovoltaic panel, used in conjunction with the first and second states to clean dust or dirt from the photovoltaic panel. Specifically, it can switch between the first and second states according to the width of the photovoltaic panel and cleaning requirements to adapt to different cleaning tasks.

[0076] Therefore, by controlling the rotation of the auxiliary walking arm through a rotary drive device, large-area photovoltaic panels can be cleaned quickly, improving cleaning efficiency. The telescopic function of the auxiliary walking arm can adapt to photovoltaic panels of different widths, increasing the versatility and flexibility of the photovoltaic panel cleaning robot. The design of the rotary drive device and roller brush can provide uniform and continuous cleaning force, improving cleaning quality.

[0077] In some implementations, the step of resetting the distance record and controlling the auxiliary walking arm to a retracted state and using the suction cup walking mechanism to move the main suction cup a preset distance in a preset forward direction when the extension reaches its maximum value and the TOF module still cannot detect the photovoltaic panel includes:

[0078] If the TOF module still cannot detect the photovoltaic panel when the gap is extended to its maximum value, the actual distance of the gap is determined based on the distance record to see if it is less than the preset maximum distance of the gap.

[0079] When the distance is less than the preset maximum distance of the gap, the distance record is reset and the auxiliary walking arm is controlled to retract, and the main suction cup is moved a preset distance in the preset forward direction by the suction cup walking mechanism.

[0080] When the distance is not less than the preset maximum distance of the gap, it is determined that there is no second photovoltaic panel adjacent to the first photovoltaic panel in the preset forward direction, an alarm message is generated and sent to the user equipment; the photovoltaic panel cleaning robot is then put into standby mode.

[0081] The user device can be a mobile phone, laptop, or desktop computer. The photovoltaic panel cleaning robot may include a communication module to establish a Bluetooth or 4G connection with the user device. Alarm information may include voice, text, or image messages.

[0082] The preset maximum gap distance is generally the preset distance between photovoltaic panels, such as 4cm, 6cm, 12cm, etc. When the auxiliary walking arm extends to its maximum value, if the TOF module still cannot detect the second photovoltaic panel, not only will the predicted position of the main suction cup not be on the second photovoltaic panel, but the auxiliary suction cup will also be unable to adhere to the second photovoltaic panel. If the actual gap distance is less than the preset gap distance, the distance record is reset, the auxiliary walking arm is controlled to retract, and the suction cup walking mechanism is used to move the main suction cup a preset safe distance (preset distance) in the preset forward direction. The preset distance is preferably the sum of the size of the main suction cup (coverage distance) and the size of the auxiliary suction cup (coverage distance). If the actual distance is not less than the preset gap distance, it is determined that there is no adjacent second photovoltaic panel for the current first photovoltaic panel in the preset forward direction. If no adjacent photovoltaic panel is determined, an alarm message is generated and sent to the user device through the communication module to remind the user to avoid the photovoltaic panel cleaning robot from going out of control. This is because, generally speaking, an ultrasonic sensor is installed at the front end of the photovoltaic panel cleaning robot. When the ultrasonic sensor detects that there is no second photovoltaic panel, it will control the photovoltaic panel cleaning robot to perform a turning operation, and the scenario where the actual distance is not less than the preset gap distance will not occur. The alarm message is used to alert the user that the ultrasonic sensor may be malfunctioning. After sending the alarm message, the solar panel cleaning robot will enter standby mode, awaiting further instructions or operations from the user.

[0083] Therefore, by comparing the preset maximum gap distance with the actual gap distance, the photovoltaic panel cleaning robot can avoid performing dangerous operations in excessively large gaps, thus improving operational safety. Timely alarm notifications allow users to understand the robot's working status and any problems encountered, enhancing the user experience. In special circumstances, the robot can automatically enter standby mode, awaiting user commands, reducing the risk of equipment damage due to erroneous operation.

[0084] In some embodiments, the TOF module includes a TOF laser sensor, and obtaining the predicted position of the main suction cup on the second photovoltaic panel based on the gap detection information includes:

[0085] Based on the gap detection information, the gap width between the first photovoltaic panel and the second photovoltaic panel and the distance between the main suction cup and the gap are obtained; the distance between the main suction cup and the gap can be the distance between the center point of the main suction cup and the nearest edge of the gap, or it can be the distance between one edge of the main suction cup and the edge of the gap.

[0086] Obtain a second moving distance, which is the maximum distance that the main suction cup can move toward the second photovoltaic panel;

[0087] Based on the second moving distance, the distance between the main suction cup and the gap, the width of the gap, and the coverage distance of the main suction cup, the predicted position of the main suction cup on the second photovoltaic panel is obtained.

[0088] In this embodiment, a Time-of-Flight (TOF) module is first used to detect the gap between the first and second photovoltaic panels. The TOF module determines the distance by emitting laser pulses and measuring the time it takes for them to reflect back, thereby obtaining the width of the gap and the distance between the main suction cup and the gap. After obtaining the gap width and the distance between the main suction cup and the gap, the maximum distance that the main suction cup can move towards the second photovoltaic panel is determined, i.e., the second moving distance. The second moving distance is the farthest distance that the main suction cup can move. Based on the second moving distance, the distance between the main suction cup and the gap, the gap width, and the coverage distance of the main suction cup, the predicted adsorption position of the main suction cup on the second photovoltaic panel is calculated. This position is the theoretical adsorption point away from the gap after the main suction cup crosses it. If the calculated predicted position meets the adsorption requirements, i.e., the predicted position does not overlap with the gap between adjacent photovoltaic panels, then a cross-preset command is executed to move the main suction cup to the second photovoltaic panel. If the adsorption requirements are not met, a cross-adjustment strategy needs to be obtained based on the gap detection information, and a cross-adjustment command is generated to adjust the position of the main suction cup to meet the adsorption requirements.

[0089] Therefore, automated gap detection and position prediction reduce human intervention and improve the efficiency and accuracy of cleaning. Accurate gap detection and crossing strategies reduce potential errors and malfunctions during cleaning, thus improving the robot's reliability.

[0090] As an example, the predicted position of the main suction cup on the second photovoltaic panel is obtained based on the second moving distance, the distance between the main suction cup and the gap, the gap width, and the coverage distance of the main suction cup. If the difference between the second moving distance and the distance between the main suction cup and the gap, and the gap width, is not less than the coverage distance of the main suction cup, the predicted position can be considered to be within the second photovoltaic panel; otherwise, the predicted position is considered not entirely within the second photovoltaic panel.

[0091] In some embodiments, the suction cup traveling mechanism includes an encoder, which is used to acquire the traveling distance of the main traveling arm and the auxiliary traveling arm. The method for acquiring the second traveling distance includes:

[0092] The code disk is used to obtain the movement distance of the auxiliary walking arm during the gap detection process and is used as the first movement distance; based on the first movement distance, the maximum distance that the main suction cup can move towards the second photovoltaic panel is obtained and is used as the second movement distance.

[0093] During gap detection, the auxiliary walking arm will extend and retract as needed. An encoder measures and records this movement of the auxiliary walking arm to obtain its first moving distance. This first moving distance is used to determine the maximum distance the main suction cup can move towards the second photovoltaic panel, i.e., the second moving distance. The second moving distance is the maximum distance the main suction cup can move.

[0094] Therefore, the use of the encoder provides a method for accurately measuring the travel distance of the walking arm. By accurately measuring the first travel distance, the second travel distance can be calculated more accurately, thereby accurately predicting the adsorption position of the main suction cup on the second photovoltaic panel. This process does not require the addition of new sensor components, saving costs.

[0095] As an example, a robot gap-crossing method is provided, applicable to a photovoltaic panel cleaning robot. The photovoltaic panel cleaning robot includes a robot body and a suction cup walking mechanism. The suction cup walking mechanism includes a TOF module, a main walking arm, and two auxiliary walking arms. The suction cup walking mechanism is used to enable the photovoltaic panel cleaning robot to move on the photovoltaic panel. The TOF module includes a TOF laser sensor, and the suction cup walking mechanism also includes an encoder disk, which is used to acquire the movement distance of the main walking arm and the auxiliary walking arms.

[0096] The main walking arm includes a main suction cup located below the robot body, which is used to adjust the walking direction of the cleaning robot. The auxiliary walking arms are located at both ends of the robot body, each with an auxiliary suction cup, and the auxiliary suction cups on the two auxiliary walking arms are symmetrically arranged around the main suction cup. The TOF modules are respectively positioned near the main suction cups on the auxiliary suction cups. The two auxiliary walking arms extend and retract along their central axes in a direction away from or towards the main suction cup to adjust the distance between the auxiliary and main suction cups. The main walking arm also includes a rotary drive device, which controls the robot body and the auxiliary walking arms to rotate around the main suction cup adsorbed on the photovoltaic panel. The auxiliary walking arms also have a roller brush that contacts the photovoltaic panel. The first state is when both auxiliary walking arms are fully extended, and the second state is when both auxiliary walking arms are fully retracted. The cleaning task includes: in the first and second states, using the rotary drive device to control the rotation of the auxiliary walking arms, so that the roller brush cleans the photovoltaic panel while rotating.

[0097] After the first photovoltaic panel has completed its cleaning task, the robot's gap-crossing method includes:

[0098] R1, by utilizing the telescopic movement of the two auxiliary walking arms of the suction cup walking mechanism, the photovoltaic panel cleaning robot moves on the photovoltaic panel in a preset forward direction;

[0099] R2, when the TOF module cannot detect the photovoltaic panel, it records the distance and controls the extension of the auxiliary walking arm where the TOF module is located;

[0100] R3, if the TOF module still cannot detect the photovoltaic panel when the extension reaches the maximum value, the actual distance of the gap is determined based on the distance record to see if the actual distance of the gap is less than the preset maximum distance of the gap.

[0101] When the distance is less than the preset maximum distance of the gap, reset the distance record and control the auxiliary walking arm to the retracted state and use the suction cup walking mechanism to move the main suction cup a preset distance in the preset forward direction; re-execute S1;

[0102] When the distance is not less than the preset maximum distance of the gap, it is determined that there is no second photovoltaic panel adjacent to the first photovoltaic panel in the preset forward direction, an alarm message is generated and sent to the user equipment; the photovoltaic panel cleaning robot is put into standby mode; the preset distance is not less than the coverage distance of the auxiliary suction cup;

[0103] R4, if the TOF module detects the photovoltaic panel during the extension process, the distance recording ends and the recorded distance data is used as gap detection information.

[0104] R5, based on the gap detection information, obtain the gap width between the first photovoltaic panel and the second photovoltaic panel, as well as the distance between the main suction cup and the gap;

[0105] R6, using the encoder to obtain the moving distance of the auxiliary walking arm during the gap detection process and using it as the first moving distance; based on the first moving distance, obtaining the maximum distance that the main suction cup can move towards the second photovoltaic panel and using it as the second moving distance;

[0106] R7. Based on the second moving distance, the distance between the main suction cup and the gap, the gap width, and the coverage distance of the main suction cup, the predicted position of the main suction cup on the second photovoltaic panel is obtained.

[0107] R8, when the predicted position meets the adsorption requirements, the suction cup walking mechanism executes a preset crossing command to move the main suction cup to the second photovoltaic panel; the adsorption requirements refer to the fact that the gap between the predicted position and the adjacent photovoltaic panel does not overlap;

[0108] R9, when the predicted position does not meet the adsorption requirements, obtain the crossing adjustment strategy according to the gap detection information, and generate the crossing adjustment command based on the crossing adjustment strategy to make the predicted position meet the adsorption requirements; then use the suction cup walking mechanism to execute the crossing preset command to move the main suction cup to the second photovoltaic panel.

[0109] Therefore, by using the TOF module and encoder in conjunction, the adsorption position of the main suction cup on the second photovoltaic panel can be accurately measured and predicted, ensuring that the photovoltaic panel cleaning robot can stably adhere to the new photovoltaic panel after crossing the gap. As long as the main suction cup's adsorption is successful, the secondary suction cup's adsorption will also meet the requirements. The predicted position of the main suction cup is compared with the gap between the photovoltaic panels to ensure no overlap, thus avoiding the risk of the main suction cup adsorbing on the edge or gap of the photovoltaic panel, improving cleaning safety and accuracy. When the predicted position does not meet the adsorption requirements, a crossing adjustment strategy is generated based on the gap detection information, automatically adjusting the position of the main suction cup until the adsorption requirements are met.

[0110] Example of an electronic device.

[0111] This embodiment provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor is configured to execute the computer program to implement the steps of the robot gap-crossing method as described in any one of the method embodiments.

[0112] See Figure 5 , Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0113] Electronic devices may include, for example, at least one memory 11, at least one processor 12, and a bus 13 connecting different platform systems.

[0114] The memory 11 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 111 and / or cache memory 112, and may further include read-only memory (ROM) 113.

[0115] The memory 11 also stores a computer program, which can be executed by the processor 12 to enable the processor 12 to implement the steps of any of the above methods.

[0116] The memory 11 may also include a utility 114 having at least one program module 115, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0117] Accordingly, processor 12 can execute the aforementioned computer program, and can also execute utility 114.

[0118] The processor 12 may employ one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0119] Bus 13 can represent one or more of several types of bus structures, including a memory bus or memory controller, peripheral bus, graphics acceleration port, processor, or a local bus using any bus structure with multiple bus structures.

[0120] The electronic device can also communicate with one or more external devices 14, such as a keyboard, pointing device, Bluetooth device, etc., and with one or more devices capable of interacting with the electronic device, and / or with any device that enables the electronic device to communicate with one or more other computing devices (e.g., a router, modem, etc.). This communication can be performed via input / output interface 15. Furthermore, the electronic device can communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 16. Network adapter 16 can communicate with other modules of the electronic device via bus 13. It should be understood that, although not shown in the figures, in practical applications, other hardware and / or software modules can be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0121] Example of a photovoltaic panel cleaning robot.

[0122] See Figure 4a and Figure 4b This application provides a photovoltaic panel cleaning robot, which includes a robot body, a suction cup walking mechanism, and the electronic equipment described in the equipment embodiment. The specific implementation of the photovoltaic panel cleaning robot is consistent with the implementation methods and achieved technical effects described in the above-mentioned method embodiments, and some details will not be repeated.

[0123] The suction cup walking mechanism includes a TOF module, a main walking arm and two auxiliary walking arms. The suction cup walking mechanism is used to enable the photovoltaic panel cleaning robot to move on the photovoltaic panel.

[0124] The main walking arm includes a main suction cup located below the robot body, which is used to adjust the walking direction of the cleaning robot; the auxiliary walking arms are located at both ends of the robot body, each auxiliary walking arm is equipped with an auxiliary suction cup, and the auxiliary suction cups on the two auxiliary walking arms are symmetrically arranged with the main suction cup as the center; the TOF modules are respectively set on the auxiliary suction cups near the main suction cup;

[0125] In some embodiments, the TOF module includes a TOF laser sensor. The TOF laser sensor emits laser pulses of a specific frequency; after the pulses strike the surface of the photovoltaic panel, a portion of the light is reflected back. The TOF laser sensor can very accurately measure the time required for the laser pulse to be emitted and reflected back from the photovoltaic panel surface. Based on the speed of light and the measured time, the TOF module can calculate the distance between the sensor and the photovoltaic panel surface. As the cleaning robot moves, the TOF laser sensor detects changes in distance to the edges or gaps of the photovoltaic panels. A sudden change in distance is detected, identifying a gap between the photovoltaic panels. During the cleaning process by the photovoltaic panel cleaning robot, the TOF laser sensor continuously monitors and updates data in real time to respond to any changes that may occur on the photovoltaic panel surface.

[0126] In some embodiments, the auxiliary walking arm is also provided with a roller brush that contacts the photovoltaic panel, so as to clean the photovoltaic panel when the rotation drive device controls the rotation of the robot body and the auxiliary walking arm.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A method for robot gap crossing, the method being applicable to a photovoltaic panel cleaning robot, the photovoltaic panel cleaning robot comprising a robot body and a suction cup walking mechanism, the suction cup walking mechanism comprising a TOF module, a main walking arm and two auxiliary walking arms, the suction cup walking mechanism being used to enable the photovoltaic panel cleaning robot to move on a photovoltaic panel; The main walking arm comprises a main suction disc below the robot body, which is used to adjust the walking direction of the cleaning robot; the two auxiliary walking arms are located at the two ends of the robot body, each of which is provided with an auxiliary suction disc, and the auxiliary suction discs on the two auxiliary walking arms are symmetrically arranged with the main suction disc as the center; The TOF modules are respectively located on the secondary suction cup near the main suction cup; Its features are, The robot gap-crossing method includes: After the first photovoltaic panel completes its cleaning task, the TOF module is used to obtain gap detection information between the first photovoltaic panel and the second photovoltaic panel adjacent to the preset forward direction. The predicted position of the main suction cup on the second photovoltaic panel is obtained based on the gap detection information; When the predicted position meets the adsorption requirements, the suction cup walking mechanism executes a preset crossing command to move the main suction cup to the second photovoltaic panel; the adsorption requirements refer to the fact that the gap between the predicted position and the adjacent photovoltaic panel does not overlap. When the predicted position does not meet the adsorption requirements, a crossing adjustment strategy is obtained based on the gap detection information, and a crossing adjustment command is generated based on the crossing adjustment strategy to make the predicted position meet the adsorption requirements; then the suction cup walking mechanism is used to execute the crossing preset command to move the main suction cup to the second photovoltaic panel. The two auxiliary walking arms extend and retract along their central axes in directions away from or towards the main suction cup, respectively, to adjust the distance between the auxiliary and main suction cups; the step of using the TOF module to obtain gap detection information between the first photovoltaic panel and a second photovoltaic panel adjacent in a preset forward direction includes: S1, by utilizing the telescopic movement of the two auxiliary walking arms of the suction cup walking mechanism, the photovoltaic panel cleaning robot moves on the photovoltaic panel in a preset forward direction; S2, when the TOF module cannot detect the photovoltaic panel, it records the distance and controls the extension of the auxiliary walking arm where the TOF module is located; S3, if the TOF module still cannot detect the photovoltaic panel after the extension reaches its maximum value, reset the distance record and control the auxiliary walking arm to the retracted state, and use the suction cup walking mechanism to move the main suction cup a preset distance in the preset forward direction; the preset distance is not less than the coverage distance of the auxiliary suction cup; repeat S1. S4, if the TOF module detects the photovoltaic panel during the extension process, the distance recording ends and the distance recorded data is used as gap detection information; If the distance record is reset when the TOF module still cannot detect the photovoltaic panel after the extension reaches its maximum value, the auxiliary walking arm is controlled to retract and the main suction cup is moved a preset distance in a preset forward direction using the suction cup walking mechanism, including: If the TOF module still cannot detect the photovoltaic panel when the gap is extended to its maximum value, the actual distance of the gap is determined based on the distance record to see if it is less than the preset maximum distance of the gap. When the distance is less than the preset maximum distance of the gap, the distance record is reset and the auxiliary walking arm is controlled to retract, and the main suction cup is moved a preset distance in the preset forward direction by the suction cup walking mechanism. When the distance is not less than the preset maximum distance of the gap, it is determined that there is no second photovoltaic panel adjacent to the first photovoltaic panel in the preset forward direction, an alarm message is generated and sent to the user equipment; the photovoltaic panel cleaning robot is then put into standby mode.

2. The robotic gap crossing method of claim 1, wherein, The main walking arm also includes a rotary drive device, which is used to control the robot body and the auxiliary walking arm to rotate around the main suction cup adsorbed on the photovoltaic panel as the center; the auxiliary walking arm is also provided with a roller brush that contacts the photovoltaic panel; the two auxiliary walking arms are fully extended as the first state, and the two auxiliary walking arms are fully retracted as the second state. The cleaning task includes: in the first state and the second state, the auxiliary walking arm is controlled to rotate by the rotary drive device, so that the roller brush can clean the photovoltaic panel when it rotates.

3. The robotic gap crossing method of claim 1, wherein, The step of obtaining the predicted position of the main suction cup on the second photovoltaic panel based on the gap detection information includes: Based on the gap detection information, the gap width between the first photovoltaic panel and the second photovoltaic panel, as well as the distance between the main suction cup and the gap, are obtained. Obtain a second moving distance, which is the maximum distance that the main suction cup can move toward the second photovoltaic panel; Based on the second moving distance, the distance between the main suction cup and the gap, the width of the gap, and the coverage distance of the main suction cup, the predicted position of the main suction cup on the second photovoltaic panel is obtained.

4. The robotic gap crossing method of claim 3, wherein, The suction cup traveling mechanism includes an encoder, which is used to acquire the traveling distance of the main traveling arm and the auxiliary traveling arm. The method for acquiring the second traveling distance includes: The code disk is used to obtain the movement distance of the auxiliary walking arm during the gap detection process and is used as the first movement distance; based on the first movement distance, the maximum distance that the main suction cup can move towards the second photovoltaic panel is obtained and is used as the second movement distance.

5. An electronic device, comprising: It includes one or more processors and memory; one or more programs are stored in the memory and configured to be executed by the one or more processors according to any one of claims 1-4.

6. A photovoltaic panel cleaning robot comprising a robot body and a suction cup walking mechanism, characterized by, The photovoltaic panel cleaning robot also includes the electronic device described in claim 5.

7. The photovoltaic panel cleaning robot according to claim 6, characterized in that, The TOF module includes a TOF laser sensor.

8. The photovoltaic panel cleaning robot according to claim 6, characterized in that, The auxiliary walking arm is also equipped with a roller brush that contacts the photovoltaic panel, so as to clean the photovoltaic panel when the rotation drive device controls the rotation of the robot body and the auxiliary walking arm.

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