Robot cliff control method, electronic equipment and cleaning robot

Abstract

The invention relates to a robot cliff control method, electronic equipment and a cleaning robot. The robot cliff control method comprises the steps that information of gaps between photovoltaic panels, suction cup adsorption constraint conditions of a suction cup walking mechanism and cleaning plan information of a cleaning robot are obtained; an echo signal of the photovoltaic panel being cleaned is measured through an ultrasonic detection module; according to the boundary information and the gap information, whether adjacent photovoltaic panels exist in the advancing direction of the photovoltaic panels being cleaned or not is judged; when it is judged that there is no adjacent photovoltaic panel in the advancing direction, a cliff adjustment strategy conforming to cleaning plan information is obtained according to the boundary information, the gap information and suction cup adsorption constraint conditions, and an advancing adjustment instruction is generated based on the cliff adjustment strategy to control a suction cup walking mechanism to adjust the advancing direction. According to the method, the sweeping plan information is combined, the real-time boundary information, the gap distance and the suction cup adsorption constraint condition are comprehensively considered, the feasible adjustment scheme in the current environment is evaluated, and the steering stability is better.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a robot cliff control method, electronic equipment and a cleaning robot. Background Art

[0002] Photovoltaic power generation is a sustainable and renewable clean energy source. It requires a huge number of photovoltaic panels to form a solar cell array. If dust or snow adheres to the surface of the solar photovoltaic panel, it will affect the transmittance of light and reduce the efficiency of power generation. At the same time, dust will also reduce the power generation efficiency of the solar photovoltaic panel. There are many cleaning robots on the market for cleaning photovoltaic panels.

[0003] Traditional robot control mostly obtains distance information through distance sensors to determine whether there is a cliff. For example, patent application number CN202310838239.5 provides a cliff detection method. A distance sensor is installed on the robot. The distance sensor is used to measure the measured distance between the distance sensor and the target area. The target area is the ground area in front that can be illuminated by the measurement signal emitted by the distance sensor; the measured distance collected by the distance sensor is obtained; if the measured distance is greater than or equal to the reference distance, the target area is determined to be a cliff. The measured distance between the target area detected by the distance sensor and the distance sensor can accurately determine whether the target area is a cliff, but it is more for the case where the wheeled mobile mechanism is used as a walking mechanism, and does not take into account the situation that the photovoltaic panel has a certain inclination and the working scene environment of the photovoltaic panel is relatively poor. For the application scenario of photovoltaic panel cleaning, a suction cup walking mechanism can be used to enable the cleaning robot to move and automatically clean the surface of the photovoltaic panel. However, when the traditional robot cliff control method is applied to the suction cup walking mechanism, it is not considered that once the suction cup of the suction cup walking mechanism is adsorbed on the frame, the cleaning robot will slip, which reduces the stability of the cliff steering of the cleaning robot.

[0004] Therefore, there is an urgent need to provide a robot cliff control method, electronic equipment and cleaning robot to solve the above technical problems. Summary of the invention

[0005] The present application provides a robot cliff control method, an electronic device and a cleaning robot, which are used to solve the problem that the related technology only focuses on the cliff control of the cleaning robot using a wheeled mobile mechanism as a walking mechanism, but does not take into account the suction cup adsorption constraint conditions of the suction cup walking mechanism, which affects the steering stability of the cleaning robot when on a cliff.

[0006] To achieve the above objectives, this application is implemented through the following technical solutions:

[0007] The present application provides a robot cliff control method, which is applicable to a cleaning robot for cleaning photovoltaic panels of a photovoltaic panel array, wherein the cleaning robot comprises a robot body and a suction cup walking mechanism, wherein the suction cup walking mechanism comprises a plurality of ultrasonic detection modules, a main walking arm provided with a main suction cup, and two auxiliary walking arms provided with auxiliary suction cups, wherein the suction cup walking mechanism is used to enable the cleaning robot to move on the photovoltaic panel; the ultrasonic detection modules are respectively arranged at the front end of the auxiliary walking arm away from the main walking arm; the robot cliff control method comprises:

[0008] Obtaining gap information between photovoltaic panels, suction cup adsorption constraint conditions of the suction cup walking mechanism, and cleaning plan information of the cleaning robot, wherein the gap information includes position information of each photovoltaic panel and gap distance between adjacent photovoltaic panels, and the cleaning plan information includes path parameters of the cleaning plan acting on the photovoltaic panels;

[0009] During the photovoltaic panel cleaning process corresponding to the cleaning plan information, the echo signal of the photovoltaic panel being cleaned is measured by the ultrasonic detection module to obtain the boundary information of the photovoltaic panel being cleaned in real time;

[0010] According to the boundary information and the gap information, determining whether there are any adjacent photovoltaic panels in the direction of the photovoltaic panel being cleaned;

[0011] When it is determined that there are no adjacent photovoltaic panels in the direction of travel, a cliff adjustment strategy that meets the cleaning plan information is obtained based on the boundary information, the gap information and the suction cup adsorption constraint conditions, and a travel adjustment instruction is generated based on the cliff adjustment strategy to control the suction cup walking mechanism to adjust the travel direction.

[0012] The beneficial effect of this technical solution is that, compared with the prior art, which only focuses on whether the measured distance collected by the distance sensor is reasonable relative to the reference distance, and ignores the requirements of the suction cup adsorption constraint on the steering of the suction cup walking mechanism, this embodiment combines the cleaning plan information, comprehensively considers the real-time boundary information, gap distance and suction cup adsorption constraint conditions, and evaluates the feasible adjustment scheme under the current environment to better adapt to the photovoltaic panel layout and the walking and steering requirements of the suction cup walking mechanism, improve the cleaning efficiency and effect, and have better steering stability. Since the ultrasonic detection module is set at the front end of the auxiliary walking arm, the cleaning robot can detect the edge of the photovoltaic panel earlier, thereby more effectively avoiding falling or collision, and improving safety. In conjunction with the robot cliff control method, the configuration of the main suction cup and the auxiliary suction cup allows the robot to turn (turn left, turn right or turn in the opposite direction) on the photovoltaic panel, rather than just moving in a straight line, which increases the flexibility and adaptability of the cleaning robot. Through precise edge detection and timely walking direction adjustment, the cleaning robot reduces the risk of falling, thereby reducing the possibility of equipment damage and extending the service life of the equipment.

[0013] Preferably, when it is determined that there are no adjacent photovoltaic panels in the traveling direction, obtaining a cliff adjustment strategy that meets the cleaning plan information according to the boundary information, the gap information and the suction cup adsorption constraint condition includes:

[0014] According to the cleaning plan information, determining whether the cleaning robot has completed the cleaning of the current photovoltaic panel array;

[0015] When the cleaning of the current photovoltaic panel array has been completed, a cliff adjustment strategy is obtained according to the boundary information, the gap information and the suction cup adsorption constraint condition, and the suction cup walking mechanism is controlled to standby or adjust the travel direction to move in the opposite direction;

[0016] When the cleaning of the current photovoltaic panel array is not completed, the suction cup walking mechanism is controlled to adjust the moving direction to move left or right according to the cleaning direction provided by the cleaning plan information.

[0017] The beneficial effect of this technical solution is that, through intelligent judgment and timely adjustment of the travel direction, the robot can adjust its direction in time to continue cleaning when it has not completed the cleaning task, and can quickly evacuate after completing the cleaning, thus improving the overall cleaning efficiency. Automated strategy acquisition and walking mechanism control reduce dependence on manual operation, reduce labor costs and operational complexity.

[0018] Preferably, controlling the suction cup walking mechanism to adjust the travel direction to move left or right according to the cleaning direction provided by the cleaning plan information includes:

[0019] Acquire a position strategy mapping relationship, wherein the position strategy mapping relationship includes a correspondence between a preset adjustment strategy and a distance between a main suction cup and an edge of a photovoltaic panel;

[0020] Determine the actual distance of the main suction cup relative to the edge of the photovoltaic panel based on the boundary information and the deployment distance of the auxiliary walking arm;

[0021] According to the actual distance of the main suction cup relative to the edge of the photovoltaic panel, a corresponding preset adjustment strategy is obtained from the position strategy mapping relationship as the cliff adjustment strategy.

[0022] The beneficial effect of this technical solution is that, by intelligently adjusting the direction of travel, the cleaning path is optimized, ineffective movement is reduced, and cleaning efficiency is improved.

[0023] Preferably, judging whether the cleaning robot has completed the cleaning of the current photovoltaic panel array according to the cleaning plan information includes:

[0024] According to the cleaning plan information, the location information of the photovoltaic panels in the photovoltaic panel array that the cleaning robot needs to clean and the identification of each photovoltaic panel are obtained;

[0025] The photovoltaic panels that have been cleaned by the cleaning robot are obtained through the code disk set on the suction cup walking mechanism, and their identifications are marked. When the identifications of all photovoltaic panels are marked, it is considered that the cleaning robot has completed the cleaning of the current photovoltaic panel array.

[0026] The beneficial effect of this technical solution is that by accurately recording the cleaning status of each photovoltaic panel, the integrity and accuracy of the cleaning work is ensured, avoiding omissions or repeated cleaning. Automated cleaning status tracking and marking reduces the need for manual intervention and improves the automation of the cleaning process.

[0027] Preferably, judging whether there are any adjacent photovoltaic panels in the direction of the photovoltaic panel being cleaned according to the boundary information and the gap information includes:

[0028] Acquire an actual gap distance according to the boundary information, and compare the actual gap distance with each gap distance in the gap information;

[0029] When the actual gap distance is greater than each of the gap distances, it is considered that there is no adjacent photovoltaic panel in the direction of travel of the photovoltaic panel being cleaned;

[0030] When the actual gap distance is not greater than at least one gap distance, and the actual gap distance corresponding to the boundary information does not increase, it is considered that there are adjacent photovoltaic panels in the moving direction of the photovoltaic panel being cleaned.

[0031] The beneficial effect of this technical solution is that, compared with comparing with a single predetermined distance, this embodiment compares the actual measurement with the pre-stored data corresponding to each photovoltaic panel, which improves the accuracy of judging whether there are adjacent photovoltaic panels, thereby reducing the possibility of misjudgment. Accurate judgment enables the robot to adjust the cleaning path in time, avoid unnecessary edge probing, and improve cleaning efficiency. By reducing unnecessary movement and probing behavior, the energy consumption of the cleaning robot is optimized, and the working time after a single charge is extended.

[0032] Preferably, when it is considered that there are adjacent photovoltaic panels in the direction of travel of the photovoltaic panel being cleaned, the method further comprises:

[0033] Determine whether a difference between an actual gap distance corresponding to the boundary information and a gap distance between a current photovoltaic panel and an adjacent photovoltaic panel in the gap information is within a preset difference range;

[0034] When it is not within the preset difference range, start counting and increase the number of statistics by one;

[0035] Detect whether the statistical number is greater than the preset statistical number. When the statistical number is greater than the preset statistical number, clear the statistical number and send a gap distance prompt message to the terminal device of the administrator. The gap distance prompt message is used to remind the administrator to pay attention to the boundary information acquisition capability of the ultrasonic detection module.

[0036] The beneficial effect of this technical solution is that by real-time monitoring and comparing the actual gap distance with the pre-stored one, counting and prompting abnormalities, preventive maintenance can be achieved, and the reduction of cleaning efficiency or accidents caused by the failure of the ultrasonic detection module can be reduced. Furthermore, considering the harsh working environment, it can adapt to the impact of environmental changes or equipment aging, and maintain the efficient operation of the cleaning robot through timely prompts and maintenance. Automated monitoring and prompts reduce the need for manual regular inspections and reduce maintenance costs and time. The safety of the cleaning robot operation is improved by timely detection and processing of potential measurement errors.

[0037] Preferably, when it is within a preset difference range, the method further comprises updating the corresponding gap distance in the gap information using the actual gap distance.

[0038] The beneficial effect of this technical solution is that by dynamically updating the gap information, the accuracy of the gap distance can be maintained. Changes in the environment or equipment may cause the actual gap distance to be inconsistent with the initial information. The dynamic update mechanism enables the cleaning robot to adapt to these changes without the need for manual re-measurement and data input. Accurate gap information helps the cleaning robot plan the cleaning path more effectively. Automated data updates reduce the need for manual measurement and data input, reducing labor costs and the probability of errors.

[0039] The present application also provides an electronic device, comprising one or more processors and a memory; one or more programs are stored in the memory and are configured so that the one or more processors execute any of the above-mentioned methods.

[0040] The present application also provides a cleaning robot, which includes a robot body and a suction cup walking mechanism, and the cleaning robot also includes the electronic device described above.

[0041] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the steps of any of the above-mentioned methods are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0043] Figure 1 A structural schematic diagram of a cleaning robot provided in the present application using a suction cup walking mechanism for moving forward is shown.

[0044] Figure 2 A schematic structural diagram of a cleaning robot provided in the present application is shown in an unfolded state.

[0045] Figure 3 A schematic flow chart of a robot cliff control method provided in an embodiment of the present application is shown.

[0046] Figure 4 A schematic diagram of a process for determining adjacent photovoltaic panels provided in an embodiment of the present application is shown.

[0047] Figure 5 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0048] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0050] See also Figure 1 and Figure 2 , Figure 1 A structural schematic diagram of a cleaning robot provided in the present application using a suction cup walking mechanism for moving forward is shown. Figure 2 The schematic diagram of the structure of a cleaning robot provided by the present application in the unfolded state is shown. For ease of understanding, the cleaning robot for cleaning photovoltaic panels to which the robot cliff control method is applicable is first described. Figure 1 ① in the figure is the initial state of the cleaning robot; Figure 1 ② in the figure is the unfolded state of the suction cup walking mechanism of the cleaning robot; Figure 1 ③ in the figure is the rotation state of the suction cup walking mechanism of the cleaning robot; Figure 1 ④ in the figure is the contracted state of a secondary walking arm of the suction cup walking mechanism of the cleaning robot; Figure 1⑤ in the figure is the propulsion state of the suction cup walking mechanism of the cleaning robot (making the two auxiliary walking arms realize the retracted state).

[0051] The main suction cup and the auxiliary suction cup respectively include an air source, a telescopic mechanism and a suction cup head. The telescopic mechanism (for example, including a cylinder or a spiral structure) makes the suction cup head approach or move away from the photovoltaic panel. The air source is used to provide the suction cup head with a suction force that can be switched on and off to act on the photovoltaic panel. The suction cup walking mechanism uses a motor to realize the telescopic movement of the two auxiliary walking arms along their central axes in a direction away from or close to the main suction cup.

[0052] The first state is when the two auxiliary walking arms and the main walking arm are fully retracted, the second state is when the two auxiliary walking arms are fully extended compared to the main walking arm, the third state is when the auxiliary walking arm opposite to the preset forward direction is fully retracted and the other auxiliary walking arm is fully extended, and the fourth state is when the auxiliary walking arm opposite to the preset forward direction is fully extended and the other auxiliary walking arm is fully retracted. Figure 1 As shown in ①, it is in the contracted state (first state) and when the main suction cup is adsorbed on the photovoltaic panel, it can be as follows Figure 1 As shown in ② in the figure, the auxiliary suction cup is controlled to be away from the photovoltaic panel and the two auxiliary walking arms are controlled to extend in the same and opposite directions to the preset forward direction (to the second state); then as shown in Figure 1 As shown in ③ in the figure, the main suction cup is rotated as the center, and the roller brush set on the auxiliary walking arm cleans the photovoltaic panel during the rotation; then Figure 1 As shown in ④, the auxiliary walking arm extending in the direction opposite to the preset forward direction is controlled to retract toward the main suction cup (to the fourth state); then the two auxiliary suction cups are controlled to approach and adsorb the photovoltaic panel, and the main suction cup is controlled to detach and move away from the photovoltaic panel, as shown in FIG. Figure 1 As shown in ⑤, after controlling the main walking arm where the main suction cup is located to move toward the auxiliary walking arm in the preset forward direction (to the third state), the main suction cup is controlled to approach and adsorb the photovoltaic panel, and the auxiliary walking arm extending in the direction opposite to the preset forward direction is controlled to retract toward the main suction cup (to the first state). Repeat the above actions so that the suction cup walking mechanism is used to move the cleaning robot on the photovoltaic panel. The motor can be provided with a code disk, which can measure the rotation angle of the motor shaft, thereby indirectly measuring the moving distance of the walking arm. The moving distances of the auxiliary walking arm and the main walking arm can be obtained by acquiring the data of the code disk.

[0053] In the related art, the cleaning robots used for cleaning photovoltaic panels mostly use traditional wheeled mobile mechanisms and crawler mobile mechanisms for their walking mechanisms. The control methods can refer to the control methods in other fields, and the logic is relatively simple. This application uses a suction cup walking mechanism, and uses the main suction cup and the auxiliary suction cup to be attached to the photovoltaic panel in stages, which can ensure the smoothness and stability of the walking.

[0054] The present application provides a robot cliff control method, an electronic device and a cleaning robot. The problem that the cleaning robot is prone to slipping when performing cleaning operations on inclined photovoltaic panels is taken into consideration. A suction cup walking mechanism is used to walk the cleaning robot. Existing cliff control methods only focus on the cliff control of the cleaning robot with a wheeled mobile mechanism as the walking mechanism, and do not take into account the suction cup adsorption constraints of the suction cup walking mechanism, which affect the steering stability of the cleaning robot on the cliff. The present application combines the cleaning plan information, comprehensively considers the real-time boundary information, gap distance and suction cup adsorption constraints, and evaluates the feasible adjustment plans under the current environment, so as to better adapt to the layout of photovoltaic panels and the walking and turning requirements of the suction cup walking mechanism, improve the cleaning efficiency and effect, and achieve better stability, thereby solving the above problems. The following will first explain the method, and then explain the equipment and photovoltaic panel cleaning robot.

[0055] Method embodiment.

[0056] See also Figure 3 , Figure 3 A schematic flow chart of a robot cliff control method provided in an embodiment of the present application is shown.

[0057] This embodiment provides a robot cliff control method, which is applicable to a cleaning robot for cleaning photovoltaic panels of a photovoltaic panel array, wherein the cleaning robot comprises a robot body and a suction cup walking mechanism, wherein the suction cup walking mechanism comprises a plurality of ultrasonic detection modules, a main walking arm provided with a main suction cup, and two auxiliary walking arms provided with auxiliary suction cups, wherein the suction cup walking mechanism is used to move the cleaning robot on the photovoltaic panel; and the ultrasonic detection modules are respectively arranged at the front end of the auxiliary walking arm away from the main walking arm. The operation mode of the cleaning robot has been described above and will not be repeated here.

[0058] The robot cliff control method comprises the steps of:

[0059] S101, obtaining gap information between photovoltaic panels, suction cup adsorption constraint conditions of the suction cup walking mechanism, and cleaning plan information of the cleaning robot, wherein the gap information includes position information of each photovoltaic panel and gap distance between adjacent photovoltaic panels, and the cleaning plan information includes path parameters of the cleaning plan acting on the photovoltaic panels;

[0060] S102, during the current photovoltaic panel cleaning process corresponding to the cleaning plan information, the echo signal of the photovoltaic panel being cleaned is measured by the ultrasonic detection module to obtain the boundary information of the photovoltaic panel being cleaned in real time;

[0061] S103, judging whether there are any adjacent photovoltaic panels in the direction of the photovoltaic panel being cleaned according to the boundary information and the gap information;

[0062] S104, when it is determined that there are no adjacent photovoltaic panels in the traveling direction, a cliff adjustment strategy that meets the cleaning plan information is obtained according to the boundary information, the gap information and the suction cup adsorption constraint condition, and a traveling adjustment instruction is generated based on the cliff adjustment strategy to control the suction cup walking mechanism to adjust the traveling direction.

[0063] In a specific application, when it is determined that there are adjacent photovoltaic panels in the direction of travel, the original cleaning plan information continues to be executed. Among them, the gap information includes the position information of each photovoltaic panel and the gap distance between adjacent photovoltaic panels. The position information is in the form of coordinates, for example, or in the form of numbers (left 0107, left 0108, left 0310, etc.). The gap distance can be the width of the gap. For example, the gap distance between photovoltaic panels No. 0107 on the left and No. 0108 on the left is 4 cm. The gap information helps the cleaning robot identify potential falling risks when moving between photovoltaic panels. The suction cup adsorption constraint condition refers to the restriction condition related to the adsorption safety of the suction cup walking mechanism, including that the suction coverage range of the auxiliary suction cup when adsorbed on the photovoltaic panel is within the photovoltaic panel, so that the auxiliary suction cup avoids the gap or cliff area outside the photovoltaic panel, because the gap or cliff area cannot provide sufficient adsorption force for the suction cup.

[0064] The cleaning plan information includes the path parameters of the photovoltaic panel cleaning plan, which is used to guide the cleaning robot to complete the specific action route of the cleaning task. For example, it keeps cleaning in the preset direction until it encounters a cliff, turns right to clean the photovoltaic panel on the right, and then turns right again to clean in the opposite direction of the preset direction until it encounters the next cliff, turns left to clean the photovoltaic panel on the left, and then turns left again to clean in the preset direction. Repeat the above process until it turns right or left and finds that the adjacent photovoltaic panel does not exist, and then ends the cleaning. During the cleaning process, the ultrasonic detection module will emit ultrasonic waves and receive echo signals to obtain the boundary information of the photovoltaic panel in real time, ensuring that the cleaning robot can accurately sense the edge position of the current photovoltaic panel to prevent crossing the boundary and causing a fall. According to the boundary information obtained in real time and the gap information obtained in advance, it is judged whether there are adjacent photovoltaic panels in the direction of travel of the cleaning robot.

[0065] If the position of the next photovoltaic panel is detected in the current direction of travel and the gap width is within the range of the cleaning robot's crossing ability, it is determined that there is an adjacent photovoltaic panel and the cleaning robot can continue to move and clean. If the next photovoltaic panel is not detected in the current direction of travel, or the gap width exceeds the cleaning robot's crossing ability, it is determined that there is no adjacent photovoltaic panel and the direction of travel needs to be adjusted. By accurately judging the presence or absence of adjacent photovoltaic panels, the cleaning robot can dynamically adjust the cleaning path to ensure the integrity and safety of the cleaning task.

[0066] If there are adjacent photovoltaic panels, the cleaning robot can continue to perform the cleaning task; if there are no adjacent photovoltaic panels, it means that the cleaning robot is close to the edge of the photovoltaic panel and there is a risk of falling. When it is detected that there are no adjacent photovoltaic panels in the direction of the cleaning robot's movement, a cliff adjustment strategy is formulated based on boundary information, gap information, and suction cup adsorption constraints. The cliff adjustment strategy comprehensively considers the robot's current cleaning plan and generates a travel adjustment instruction to control the suction cup walking mechanism to adjust the direction to ensure that the cleaning robot continues the cleaning task safely.

[0067] Compared with the cliff control method in the prior art, which only focuses on whether the measured distance collected by the distance sensor is reasonable relative to the reference distance, and ignores the requirements of the suction cup adsorption constraint on the steering of the suction cup walking mechanism, this embodiment combines the cleaning plan information, comprehensively considers the real-time boundary information, gap distance and suction cup adsorption constraint conditions, and evaluates the feasible adjustment schemes under the current environment to better adapt to the layout of photovoltaic panels and the walking and steering requirements of the suction cup walking mechanism, improve the cleaning efficiency and effect, and have better steering stability. Since the ultrasonic detection module is set at the front end of the auxiliary walking arm, the cleaning robot can detect the edge of the photovoltaic panel earlier, thereby more effectively avoiding falling or collision, and improving safety. In conjunction with the robot cliff control method, the configuration of the main suction cup and the auxiliary suction cup allows the robot to turn (left turn, right turn or reverse direction) on the photovoltaic panel, rather than just moving in a straight line, which increases the flexibility and adaptability of the cleaning robot. Through precise edge detection and timely walking direction adjustment, the cleaning robot reduces the risk of falling, thereby reducing the possibility of equipment damage and extending the service life of the equipment.

[0068] In some embodiments, when it is determined that there are no adjacent photovoltaic panels in the traveling direction, obtaining a cliff adjustment strategy that meets the cleaning plan information according to the boundary information, the gap information, and the suction cup adsorption constraint condition includes:

[0069] According to the cleaning plan information, determining whether the cleaning robot has completed the cleaning of the current photovoltaic panel array;

[0070] When the cleaning of the current photovoltaic panel array has been completed, a cliff adjustment strategy is obtained according to the boundary information, the gap information and the suction cup adsorption constraint condition, and the suction cup walking mechanism is controlled to standby or adjust the travel direction to move in the opposite direction;

[0071] When the cleaning of the current photovoltaic panel array is not completed, the suction cup walking mechanism is controlled to adjust the moving direction to move left or right according to the cleaning direction provided by the cleaning plan information.

[0072] Using the cleaning plan information, first determine whether the cleaning robot has completed the cleaning task of the current photovoltaic panel array. Furthermore, the cleaning plan information can record the number of turns required and compare it with the actual number of turns. If the actual number of turns indicates that the last photovoltaic panel has been cleaned, it is considered that the cleaning task is completed. After confirming that the cleaning robot has completed the cleaning of the current photovoltaic panel array, the cliff adjustment strategy will be obtained according to the boundary information, gap information and suction cup adsorption constraints. If the last photovoltaic panel cleaned by the cleaning robot is the photovoltaic panel on the opposite side of the first photovoltaic panel cleaned, the robot is guided to adjust the direction of travel, usually in the opposite direction, to avoid falling and prepare to leave the current working area; if the last photovoltaic panel cleaned by the cleaning robot is the photovoltaic panel on the same side of the first photovoltaic panel cleaned, in this case, it is on standby. It can be considered that when the cleaning plan information is formulated, the position relationship of the last photovoltaic panel relative to the first photovoltaic panel can be obtained. If the cleaning task has not been completed, the direction of travel will be adjusted to the left or right according to the cleaning direction provided in the cleaning plan information. Whether to adjust the travel direction to the left or right can be obtained based on the relative position between the current position of the cleaning robot and the uncleaned area. According to the obtained cliff adjustment strategy, a specific travel adjustment instruction is generated to control the suction cup walking mechanism to adjust the travel direction.

[0073] Therefore, through intelligent judgment and timely adjustment of the travel direction, the robot can adjust its direction in time to continue cleaning when it has not completed the cleaning task, and can quickly evacuate after completing the cleaning, thus improving the overall cleaning efficiency. Automated strategy acquisition and walking mechanism control reduce dependence on manual operation, reduce labor costs and operational complexity.

[0074] As an example, the photovoltaic panel array used for cleaning is an array consisting of 90 photovoltaic panels in 9 columns and 10 rows, and the size of each photovoltaic panel is 2187*1102*35mm. It is equipped with a main suction cup and two auxiliary suction cups, each of which has a suction coverage range of 150mm*150mm, and the suction coverage range of the main suction cup is 200mm*200mm. The initialization cleaning plan is used to instruct the cleaning robot to start from the upper left corner of the photovoltaic panel array and clean from top to bottom and from left to right. At the same time, it is confirmed that the last photovoltaic panel is in the upper right corner. During the cleaning process, the cleaning robot monitors the boundary information in real time through the ultrasonic detection module. Assuming that the cleaning robot has cleaned the photovoltaic panel in the 7th column and the 10th row, it needs to turn right according to the cleaning plan information, and control the suction cup walking mechanism to adjust the travel direction to move to the right.

[0075] In some embodiments, controlling the suction cup walking mechanism to adjust the travel direction to move left or right according to the cleaning direction provided by the cleaning plan information includes:

[0076] Acquire a position strategy mapping relationship, wherein the position strategy mapping relationship includes a correspondence between a preset adjustment strategy and a distance between a main suction cup and an edge of a photovoltaic panel;

[0077] Determine the actual distance of the main suction cup relative to the edge of the photovoltaic panel based on the boundary information and the deployment distance of the auxiliary walking arm;

[0078] According to the actual distance of the main suction cup relative to the edge of the photovoltaic panel, a corresponding preset adjustment strategy is obtained from the position strategy mapping relationship as the cliff adjustment strategy.

[0079] First, obtain the preset position strategy mapping relationship, which can be in the form of a table, which defines in detail the adjustment strategy corresponding to the distance between the main suction cup and the edge of the photovoltaic panel in different situations. The preset adjustment strategy includes specific parameters and conditions for moving left or right. Using the boundary information and the deployment distance of the auxiliary walking arm, calculate the actual distance of the main suction cup (center point) relative to the edge of the photovoltaic panel. According to the actual distance of the main suction cup relative to the edge of the photovoltaic panel, retrieve and obtain the corresponding preset adjustment strategy from the position strategy mapping relationship to guide the suction cup walking mechanism to adjust the travel direction to ensure that the cleaning robot can effectively avoid the edge of the cliff and continue the cleaning task.

[0080] Specifically, when the actual distance between the main suction cup and the edge of the photovoltaic panel is too narrow, even if the cleaning robot turns, because it is too far away from the center of the photovoltaic panel, it will affect the effect of the next rotational cleaning. Therefore, the corresponding adjustment strategy is to first move backward a certain distance so that the cleaning robot is as close to the center of the photovoltaic panel as possible (that is, within the preset center range), and then turn left or right.

[0081] Therefore, by intelligently adjusting the direction of travel, the cleaning path is optimized, ineffective movement is reduced, and cleaning efficiency is improved.

[0082] In some embodiments, judging whether the cleaning robot has completed the cleaning of the current photovoltaic panel array according to the cleaning plan information includes:

[0083] According to the cleaning plan information, the location information of the photovoltaic panels in the photovoltaic panel array that the cleaning robot needs to clean and the identification of each photovoltaic panel are obtained;

[0084] The photovoltaic panels that have been cleaned by the cleaning robot are obtained through the code disk set on the suction cup walking mechanism, and their identifications are marked. When the identifications of all photovoltaic panels are marked, it is considered that the cleaning robot has completed the cleaning of the current photovoltaic panel array.

[0085] First, according to the cleaning plan information, obtain the location information and unique identification of each photovoltaic panel in the photovoltaic panel array that the cleaning robot needs to clean. Whenever the cleaning robot completes the cleaning of a photovoltaic panel, that is, when the suction cup walking mechanism completes the movement of a photovoltaic panel, the identification of the photovoltaic panel is marked in the database that stores the location information and unique identification of the photovoltaic panel, ensuring that each cleaned photovoltaic panel can be accurately recorded. Continuously monitor the marking status of all photovoltaic panel identifications. When all photovoltaic panel identifications are marked, it means that the cleaning robot has completed the cleaning task of the current photovoltaic panel array.

[0086] Therefore, by accurately recording the cleaning status of each photovoltaic panel, the completeness and accuracy of the cleaning work is ensured, avoiding omissions or repeated cleaning. Automated cleaning status tracking and marking reduces the need for manual intervention and improves the automation of the cleaning process.

[0087] See also Figure 4 , Figure 4 A schematic diagram of a process for determining adjacent photovoltaic panels provided in an embodiment of the present application is shown.

[0088] In some embodiments, judging whether there are any adjacent photovoltaic panels in the direction of the photovoltaic panel being cleaned according to the boundary information and the gap information (ie, step S103) includes:

[0089] S201, acquiring an actual gap distance according to the boundary information, and comparing the actual gap distance with each gap distance in the gap information;

[0090] S202, when the actual gap distance is greater than each of the gap distances, it is considered that there is no adjacent photovoltaic panel in the direction of travel of the photovoltaic panel being cleaned;

[0091] S203: When the actual gap distance is not greater than at least one gap distance and the actual gap distance corresponding to the boundary information does not increase, it is considered that there is an adjacent photovoltaic panel in the moving direction of the photovoltaic panel being cleaned.

[0092] The ultrasonic detection module is used to obtain the boundary information of the photovoltaic panel being cleaned in real time, so as to calculate the actual gap distance and provide data support for subsequent judgments. The gap distance actually measured is compared with each gap distance in the pre-stored gap information. This is because in specific applications, there are gap parameters corresponding to photovoltaic panels, and the corresponding relationship is entered incorrectly. If the actual gap distance is greater than all known gap distances, it is judged that there are no adjacent photovoltaic panels in the direction of travel of the current photovoltaic panel, which means that the cleaning robot may have reached the edge of the photovoltaic panel array (composed of all photovoltaic panels). If the actual gap distance is not greater than at least one known gap distance, and the gap distance does not increase in further detection, it indicates that there are adjacent photovoltaic panels in the direction of travel of the cleaning robot.

[0093] Therefore, compared with the comparison with a single predetermined distance in the related art, this embodiment compares the actual measurement with the pre-stored data corresponding to each photovoltaic panel, which improves the accuracy of judging whether there are adjacent photovoltaic panels, thereby reducing the possibility of misjudgment. Accurate judgment enables the robot to adjust the cleaning path in time, avoid unnecessary edge probing, and improve cleaning efficiency. By reducing unnecessary movement and probing behavior, the energy consumption of the cleaning robot is optimized, and the working time after a single charge is extended.

[0094] In some embodiments, when it is believed that there is an adjacent photovoltaic panel in the direction of travel of the photovoltaic panel being cleaned, the method further comprises:

[0095] Determine whether a difference between an actual gap distance corresponding to the boundary information and a gap distance between a current photovoltaic panel and an adjacent photovoltaic panel in the gap information is within a preset difference range;

[0096] When it is not within the preset difference range, start counting and increase the number of statistics by one;

[0097] Detect whether the statistical number is greater than the preset statistical number. When the statistical number is greater than the preset statistical number, the statistical number is cleared and a gap distance prompt message is sent to the terminal device of the manager. The gap distance prompt message is used to remind the manager to pay attention to the boundary information acquisition capability of the ultrasonic detection module. The preset statistical number is, for example, 3 times, 5 times, 10 times, etc., which is not greater than the total value of the gap distance.

[0098] After determining that there are adjacent photovoltaic panels in the direction of the cleaning robot's movement, further analyze the difference between the actual gap distance and the gap distance between the current photovoltaic panel and the adjacent photovoltaic panel in the pre-stored gap information. If the difference between the actual gap distance and the pre-stored gap distance is not within the preset difference range, start counting and increase the number of statistics by one to indicate that an abnormality has occurred. Continuously monitor the number of statistics. When the number of statistics exceeds the preset number of statistics, it indicates that there may be ongoing problems such as decreased sensor accuracy or environmental changes affecting measurement accuracy. Automatically clear the number of statistics and send a gap distance prompt message to the administrator's terminal device to remind the administrator to pay attention and may need to check or calibrate the ultrasonic detection module. The terminal device is, for example, a mobile phone, tablet or laptop computer, and the gap distance prompt message is, for example, a voice message, a text message, etc.

[0099] Therefore, by real-time monitoring and comparison of the actual gap distance with the pre-stored one, statistics and prompts of abnormalities, preventive maintenance can be achieved to reduce the decline in cleaning efficiency or accidents caused by the failure of the ultrasonic detection module. Furthermore, considering the harsh working environment, it can adapt to the impact of environmental changes or equipment aging, and maintain the efficient operation of the cleaning robot through timely prompts and maintenance. Automated monitoring and prompts reduce the need for manual regular inspections and reduce maintenance costs and time. By timely discovering and handling potential measurement errors, the safety of the cleaning robot operation is improved.

[0100] In some implementations, when the difference is within a preset range, the method further includes updating a corresponding gap distance in the gap information using the actual gap distance.

[0101] If the actual gap distance is within the preset difference range (e.g. 1cm, 3cm), the actual gap distance will be used to update the corresponding gap distance in the gap information. Because in actual applications, the layout or spacing of photovoltaic panels may change due to maintenance, aging and other factors, the latest gap information can be ensured.

[0102] Therefore, by dynamically updating the gap information, the accuracy of the gap distance can be maintained. Changes in the environment or equipment may cause the actual gap distance to be inconsistent with the initial information. The dynamic update mechanism enables the cleaning robot to adapt to these changes without the need for manual re-measurement and data entry. Accurate gap information helps the cleaning robot plan the cleaning path more effectively. Automated data updates reduce the need for manual measurement and data entry, reducing labor costs and the probability of errors.

[0103] As an example, a robot cliff control method is provided, the robot cliff control method is applicable to a cleaning robot for cleaning photovoltaic panels of a photovoltaic panel array, the cleaning robot comprises a robot body and a suction cup walking mechanism, the suction cup walking mechanism comprises a plurality of ultrasonic detection modules, a main walking arm provided with a main suction cup and two auxiliary walking arms provided with auxiliary suction cups, the suction cup walking mechanism is used to enable the cleaning robot to move on the photovoltaic panel; the ultrasonic detection modules are respectively arranged at the front end of the auxiliary walking arm away from the main walking arm; the robot cliff control method comprises:

[0104] Obtaining gap information between photovoltaic panels, suction cup adsorption constraint conditions of the suction cup walking mechanism, and cleaning plan information of the cleaning robot, wherein the gap information includes position information of each photovoltaic panel and gap distance between adjacent photovoltaic panels, and the cleaning plan information includes path parameters of the cleaning plan acting on the photovoltaic panels;

[0105] During the photovoltaic panel cleaning process corresponding to the cleaning plan information, the echo signal of the photovoltaic panel being cleaned is measured by the ultrasonic detection module to obtain the boundary information of the photovoltaic panel being cleaned in real time;

[0106] Acquire an actual gap distance according to the boundary information, and compare the actual gap distance with each gap distance in the gap information;

[0107] When the actual gap distance is greater than each of the gap distances, it is considered that there is no adjacent photovoltaic panel in the direction of travel of the photovoltaic panel being cleaned;

[0108] When the actual gap distance is not greater than at least one gap distance, and the actual gap distance corresponding to the boundary information does not increase, it is considered that there are adjacent photovoltaic panels in the direction of travel of the photovoltaic panel being cleaned; determine whether the difference between the actual gap distance corresponding to the boundary information and the gap distance between the current photovoltaic panel and the adjacent photovoltaic panel in the gap information is within a preset difference range; when it is not within the preset difference range, start counting and increase the number of statistics by one; detect whether the number of statistics is greater than the preset number of statistics, and when the number of statistics is greater than the preset number of statistics, clear the number of statistics and send a gap distance prompt information to the terminal device of the administrator, the gap distance prompt information is used to remind the administrator to pay attention to the boundary information acquisition capability of the ultrasonic detection module; when it is within the preset difference range, use the actual gap distance to update the corresponding gap distance in the gap information.

[0109] When it is determined that there are no adjacent photovoltaic panels in the direction of travel, the position information of the photovoltaic panels in the photovoltaic panel array that the cleaning robot needs to clean and the identification of each photovoltaic panel are obtained according to the cleaning plan information; the photovoltaic panels that have been cleaned by the cleaning robot are obtained by a code disk arranged on the suction cup walking mechanism, and their identifications are marked. When the identifications of all photovoltaic panels are marked, it is considered that the cleaning robot has completed the cleaning of the current photovoltaic panel array; otherwise, it is considered that the cleaning of each photovoltaic panel in the current photovoltaic panel array has not been completed;

[0110] When the cleaning of the current photovoltaic panel array has been completed, a cliff adjustment strategy is obtained according to the boundary information, the gap information and the suction cup adsorption constraint condition, and the suction cup walking mechanism is controlled to standby or adjust the travel direction to move in the opposite direction;

[0111] When the cleaning of the current photovoltaic panel array is not completed, obtaining a position strategy mapping relationship, wherein the position strategy mapping relationship includes a correspondence between a preset adjustment strategy and a distance between the main suction cup and an edge of the photovoltaic panel;

[0112] Based on the boundary information and the unfolded distance of the auxiliary walking arm, the actual distance of the main suction cup relative to the edge of the photovoltaic panel is determined; according to the actual distance of the main suction cup relative to the edge of the photovoltaic panel, the corresponding preset adjustment strategy is obtained from the position strategy mapping relationship as the cliff adjustment strategy, and based on the cliff adjustment strategy, a travel adjustment instruction is generated to control the suction cup walking mechanism to adjust the travel direction.

[0113] Electronic device embodiments.

[0114] This embodiment provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to implement the steps of the robot cliff control method described in any one of the method embodiments when executing the computer program.

[0115] See also Figure 5 , Figure 5 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown.

[0116] The electronic device may include, for example, at least one memory 11, at least one processor 12, and a bus 13 connecting different platform systems.

[0117] The memory 11 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 111 and / or a cache memory 112 , and may further include a read-only memory (ROM) 113 .

[0118] The memory 11 also stores a computer program, which can be executed by the processor 12 so that the processor 12 implements the steps of any of the above methods.

[0119] The memory 11 may also include a utility 114 having at least one program module 115, such program module 115 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0120] Accordingly, the processor 12 may execute the above-mentioned computer program, and may execute the utility 114 .

[0121] The processor 12 may adopt 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.

[0122] Bus 13 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures.

[0123] The electronic device may also communicate with one or more external devices 14 such as a keyboard, a pointing device, a Bluetooth device, etc., and may also communicate with one or more devices that can interact with the electronic device, and / or communicate with any device (such as a router, a modem, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through an input / output interface 15. In addition, the electronic device may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 16. The network adapter 16 may communicate with other modules of the electronic device through the bus 13. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device in actual applications, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0124] Cleaning robot embodiment.

[0125] The embodiment of the present application provides a cleaning robot, the cleaning robot includes a robot body and a suction cup walking mechanism, and the cleaning robot also includes the electronic device described above. The specific implementation of the cleaning robot is consistent with the implementation method and the technical effect achieved in the embodiment of the above method, and some contents are not repeated here.

[0126] Computer readable storage medium embodiments.

[0127] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the steps of any of the above-mentioned methods are implemented.

[0128] The computer readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium includes a non-transitory computer-readable storage medium. The computer readable storage medium has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written into one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0129] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0130] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A robot cliff control method, the robot cliff control method is applicable to a cleaning robot for cleaning photovoltaic panels of a photovoltaic panel array, the cleaning robot comprises a robot body and a suction cup walking mechanism, the suction cup walking mechanism comprises a plurality of ultrasonic detection modules, a main walking arm provided with a main suction cup and two auxiliary walking arms provided with auxiliary suction cups, the suction cup walking mechanism is used to enable the cleaning robot to move on the photovoltaic panel; It is characterized in that The ultrasonic detection modules are respectively arranged at the front end of the auxiliary walking arm away from the main walking arm; the robot cliff control method includes: Obtaining gap information between photovoltaic panels, suction cup adsorption constraint conditions of the suction cup walking mechanism, and cleaning plan information of the cleaning robot, wherein the gap information includes position information of each photovoltaic panel and gap distance between adjacent photovoltaic panels, and the cleaning plan information includes path parameters of the cleaning plan acting on the photovoltaic panels; During the photovoltaic panel cleaning process corresponding to the cleaning plan information, the echo signal of the photovoltaic panel being cleaned is measured by the ultrasonic detection module to obtain the boundary information of the photovoltaic panel being cleaned in real time; According to the boundary information and the gap information, determining whether there are any adjacent photovoltaic panels in the direction of the photovoltaic panel being cleaned; When it is determined that there are no adjacent photovoltaic panels in the direction of travel, a cliff adjustment strategy that meets the cleaning plan information is obtained based on the boundary information, the gap information and the suction cup adsorption constraint conditions, and a travel adjustment instruction is generated based on the cliff adjustment strategy to control the suction cup walking mechanism to adjust the travel direction.

2. The robot cliff control method according to claim 1, It is characterized in that When it is determined that there are no adjacent photovoltaic panels in the direction of travel, obtaining a cliff adjustment strategy that meets the cleaning plan information according to the boundary information, the gap information and the suction cup adsorption constraint condition includes: According to the cleaning plan information, determining whether the cleaning robot has completed the cleaning of the current photovoltaic panel array; When the cleaning of the current photovoltaic panel array has been completed, a cliff adjustment strategy is obtained according to the boundary information, the gap information and the suction cup adsorption constraint condition, and the suction cup walking mechanism is controlled to standby or adjust the travel direction to move in the opposite direction; When the cleaning of the current photovoltaic panel array is not completed, the suction cup walking mechanism is controlled to adjust the moving direction to move left or right according to the cleaning direction provided by the cleaning plan information.

3. The robot cliff control method according to claim 2, It is characterized in that The step of judging whether the cleaning robot has completed the cleaning of the current photovoltaic panel array according to the cleaning plan information includes: According to the cleaning plan information, the location information of the photovoltaic panels in the photovoltaic panel array that the cleaning robot needs to clean and the identification of each photovoltaic panel are obtained; The photovoltaic panels that have been cleaned by the cleaning robot are obtained through the code disk set on the suction cup walking mechanism, and their identifications are marked. When the identifications of all photovoltaic panels are marked, it is considered that the cleaning robot has completed the cleaning of the current photovoltaic panel array.

4. The robot cliff control method according to claim 2, It is characterized in that According to the cleaning direction provided by the cleaning plan information, controlling the suction cup walking mechanism to adjust the travel direction to move left or right includes: Acquire a position strategy mapping relationship, wherein the position strategy mapping relationship includes a correspondence between a preset adjustment strategy and a distance between a main suction cup and an edge of a photovoltaic panel; Determine the actual distance of the main suction cup relative to the edge of the photovoltaic panel based on the boundary information and the deployment distance of the auxiliary walking arm; According to the actual distance of the main suction cup relative to the edge of the photovoltaic panel, a corresponding preset adjustment strategy is obtained from the position strategy mapping relationship as the cliff adjustment strategy.

5. The robot cliff control method according to claim 1, It is characterized in that The step of judging whether there are any adjacent photovoltaic panels in the direction of the photovoltaic panel being cleaned according to the boundary information and the gap information includes: Acquire an actual gap distance according to the boundary information, and compare the actual gap distance with each gap distance in the gap information; When the actual gap distance is greater than each of the gap distances, it is considered that there is no adjacent photovoltaic panel in the direction of travel of the photovoltaic panel being cleaned; When the actual gap distance is not greater than at least one gap distance, and the actual gap distance corresponding to the boundary information does not increase, it is considered that there are adjacent photovoltaic panels in the moving direction of the photovoltaic panel being cleaned.

6. The robot cliff control method according to claim 5, It is characterized in that When it is considered that there are adjacent photovoltaic panels in the direction of travel of the photovoltaic panel being cleaned, the method further includes: Determine whether a difference between an actual gap distance corresponding to the boundary information and a gap distance between a current photovoltaic panel and an adjacent photovoltaic panel in the gap information is within a preset difference range; When it is not within the preset difference range, start counting and increase the number of statistics by one; Detect whether the statistical number is greater than the preset statistical number. When the statistical number is greater than the preset statistical number, clear the statistical number and send a gap distance prompt message to the terminal device of the administrator. The gap distance prompt message is used to remind the administrator to pay attention to the boundary information acquisition capability of the ultrasonic detection module.

7. The robot cliff control method according to claim 6, It is characterized in that When it is within a preset difference range, the method further includes updating the corresponding gap distance in the gap information using the actual gap distance.

8. An electronic device, It is characterized in that The method comprises one or more processors and a memory; one or more programs are stored in the memory and are configured so that the one or more processors execute the method according to any one of claims 1 to 7.

9. A cleaning robot, comprising a robot body and a suction cup walking mechanism, wherein the suction cup walking mechanism comprises a plurality of ultrasonic detection modules, a main walking arm provided with a main suction cup and two auxiliary walking arms provided with auxiliary suction cups, and the suction cup walking mechanism is used to enable the cleaning robot to move on a photovoltaic panel; It is characterized in that The ultrasonic detection modules are respectively arranged at the front end of the auxiliary walking arm away from the main walking arm, and the cleaning robot also includes the electronic device according to claim 8.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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