Ultrasonic correction method and equipment applied to cleaning robot and robot system

Abstract

The invention relates to an ultrasonic correction method and device applied to a cleaning robot and a robot system. The cleaning robot is used for cleaning photovoltaic panels of a photovoltaic panel array, and the ultrasonic deviation correction method comprises the steps that echo signals of the photovoltaic panels being cleaned are obtained through a first ultrasonic detection module, and the first ultrasonic detection module is arranged at the foremost end of the advancing direction of the cleaning robot; when the echo signal indicates that the cleaning robot advances to the boundary of the photovoltaic panel array, the cleaning robot is controlled to rotate with the center point of the cleaning robot as the center and boundary detection data are obtained; obtaining a target steering constraint of the cleaning robot according to the boundary detection data; and obtaining a target steering path of the cleaning robot according to the target steering constraint, and controlling the cleaning robot to steer according to the target steering path. According to the method, real-time deviation correction is performed on the cleaning robot by utilizing cliff detection of the boundary of the photovoltaic panel array, so that the cleaning robot can walk straightly, and the efficiency and the cleaning coverage rate are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to an ultrasonic deviation correction method, equipment and robot system applied to a cleaning robot. Background Art

[0002] Photovoltaic power generation is a sustainable, renewable, clean energy source that requires a huge number of photovoltaic panels to form a photovoltaic panel array. Keeping solar photovoltaic panels clean is an effective way to ensure the power generation capacity of photovoltaic power stations and must be cleaned regularly.

[0003] The cleaning robot may slip when walking on the photovoltaic panel array, causing the cleaning robot to go astray, which will affect efficiency. The existing cleaning robot's deviation correction function is implemented by setting multiple sensor blocks along the walking route on the photovoltaic panel. The cleaning robot is provided with a sensing switch assembly for sensing the sensor blocks. The sensing signal obtained by the sensing switch assembly is used to determine whether the cleaning robot has gone astray and correct the deviation, thereby alleviating the impact of the cleaning robot going astray on the cleaning efficiency. However, the above scheme requires the setting of more sensor blocks. If the layout of the photovoltaic panel array changes, the sensor blocks need to be rearranged, which reduces the scalability of the photovoltaic panel array. At the same time, the working environment of the photovoltaic panel array is relatively poor, and the sensor blocks are also easily affected by dust, etc., causing the correction function to fail.

[0004] Therefore, there is an urgent need for an ultrasonic deviation correction method, equipment and robot system for a cleaning robot to solve the above-mentioned technical problems. Summary of the invention

[0005] The purpose of this application is to overcome the defects existing in the background technology and provide an ultrasonic correction method, equipment and robot system for a cleaning robot.

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

[0007] The present application provides an ultrasonic deviation correction method applied to a cleaning robot, the cleaning robot is used for cleaning photovoltaic panels of a photovoltaic panel array, and the ultrasonic deviation correction method includes:

[0008] Acquiring an echo signal of the photovoltaic panel being cleaned by using a first ultrasonic detection module, wherein the first ultrasonic detection module is arranged at the front end of the moving direction of the cleaning robot;

[0009] When the echo signal indicates that the cleaning robot has moved to the boundary of the photovoltaic panel array, the cleaning robot is controlled to rotate around the center point of the cleaning robot and obtain boundary detection data;

[0010] According to the boundary detection data, obtaining the target steering constraint of the cleaning robot;

[0011] According to the target turning constraint, the target turning path of the cleaning robot is obtained, and the cleaning robot is controlled to turn according to the target turning path.

[0012] The beneficial effect of this technical solution is that there is no need to perform a separate deviation correction action, but the deviation correction process is synchronized with the steering process that is supposed to be carried out, reducing the impact of the cleaning robot's deviation correction on the efficiency of the cleaning operation. The use of ultrasonic technology to correct the deviation at the boundary position of the photovoltaic panel array does not rely on preset sensor blocks, so it is easier to adapt to photovoltaic panel arrays of different sizes and shapes, and improves scalability. The ultrasonic detection module is not easily affected by dust and other environmental factors, and provides a more stable deviation correction function compared to traditional sensor blocks. Since there is no need to install and maintain sensor blocks on photovoltaic panels, the maintenance cost and complexity of the photovoltaic system are reduced. The cleaning robot can autonomously correct the deviation at the boundary position of the photovoltaic panel array, reducing the need for manual adjustment of the cleaning path and saving human resources.

[0013] Preferably, the cleaning robot comprises a robot body and a suction cup walking mechanism, the suction cup walking mechanism comprises 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 array, and the first ultrasonic detection module is arranged at the front end of the auxiliary walking arm in the traveling direction of the cleaning robot;

[0014] The controlling the cleaning robot to rotate around the center point of the cleaning robot comprises:

[0015] The two auxiliary walking arms are controlled to extend to be away from the main walking arm, and then the auxiliary walking arms are controlled to rotate with the main suction cup as the center.

[0016] The beneficial effect of this technical solution is that the design of the suction cup walking mechanism simplifies the walking mechanism of the cleaning robot. The first ultrasonic detection module is set at the front end of the auxiliary walking arm in the direction of travel of the cleaning robot, which can be used for boundary (cliff) detection of the cleaning robot and reused for data collection in the ultrasonic correction process. There is no need to add new collection devices, saving costs; at the same time, the power of the cleaning robot comes from the rechargeable battery, which reduces the addition of devices and avoids the increase in the weight of the cleaning robot, thereby affecting the battery life, reducing the charging frequency, and improving the cleaning efficiency.

[0017] Preferably, the boundary detection data includes first angle data and second angle data; the first angle data and the second angle data are obtained when the first ultrasonic detection module intersects the boundary of the photovoltaic panel array twice when the auxiliary walking arm rotates one circle with the main suction cup as the center.

[0018] The beneficial effect of this technical solution is that, through the angle data obtained from the two intersections, the cleaning robot corrects the deviation through the fixed feature of the boundary position, thereby improving the accuracy of the cleaning path. Accurate boundary detection helps the robot adjust its direction in time when approaching the boundary of the photovoltaic panel array to avoid missing the cleaning area. Accurate boundary detection and timely steering adjustment reduce repeated cleaning and missed cleaning, and improve the overall cleaning efficiency.

[0019] Preferably, the cleaning robot further comprises a second ultrasonic detection module, which is symmetrically arranged with the first ultrasonic detection module on the auxiliary walking arm on the other side of the main suction cup; the boundary detection data further comprises third angle data and fourth angle data obtained when the auxiliary walking arm rotates one circle with the main suction cup as the center and the second ultrasonic detection module intersects the boundary of the photovoltaic panel array twice;

[0020] The step of obtaining the target steering constraint of the cleaning robot according to the boundary detection data includes:

[0021] S1, acquiring an intermediate steering constraint according to the first angle data and the second angle data;

[0022] S2, using the third angle data and the fourth angle data to verify the intermediate steering constraint, and when the verification passes, using the intermediate steering constraint as a target steering constraint;

[0023] S3, when the verification fails, start counting and add one to the statistical number, detect whether the statistical number is greater than the preset statistical number, and when the statistical number is greater than the preset statistical number, clear the statistical number and send a prompt message to the terminal device of the administrator, the prompt message is used to remind the administrator to pay attention to the boundary detection data acquisition capability of the ultrasonic detection module;

[0024] S4, when the statistical number is not greater than the preset statistical number, control the cleaning robot to rotate around the center point of the cleaning robot and update the boundary detection data, and then execute S1.

[0025] The beneficial effect of this technical solution is that through the dual detection of two ultrasonic detection modules, the position of the cleaning robot relative to the boundary of the photovoltaic panel array can be determined more accurately, thereby improving the positioning accuracy. The verification step ensures that when inaccurate boundary detection data is obtained, it can be identified and measures can be taken in time to avoid erroneous steering decisions. When it is detected that the ability to obtain boundary detection data has decreased, the management personnel are notified in time, which helps to timely maintain and calibrate to ensure the normal operation of the cleaning robot. Throughout the process, the cleaning robot can make decisions and adjustments independently, reducing human intervention and improving the degree of automation.

[0026] Preferably, the suction cup walking mechanism includes a code disk for recording the rotation angle of the auxiliary walking arm, and the first angle data and the second angle data are obtained by:

[0027] When the auxiliary walking arm rotates one circle, when the first ultrasonic detection module detects a boundary from the photovoltaic panel array, the angle data of the code disk is used as the first angle data; when the photovoltaic panel array is detected outside the boundary by the first ultrasonic detection module, the angle data of the code disk is used as the second angle data;

[0028] The method for acquiring the third angle data and the fourth angle data includes:

[0029] When the boundary of the photovoltaic panel array in the forward direction is detected for the first time by the second ultrasonic detection module, the angle data of the code disk is used as the third angle data; when the boundary of the photovoltaic panel array in the forward direction is detected again by the second ultrasonic detection module, the angle data of the code disk is used as the fourth angle data.

[0030] The beneficial effect of this technical solution is that the use of the code disc provides continuous angle feedback, which enhances the navigation ability of the cleaning robot for path planning during the deviation correction process. Accurate boundary detection and steering constraints help the cleaning robot plan the cleaning path more efficiently, reducing the possibility of repeated cleaning and missed cleaning.

[0031] Preferably, the target steering constraint includes a forward steering angle or a reverse steering angle of a suction cup walking mechanism of the cleaning robot; acquiring a target steering path of the cleaning robot according to the target steering constraint, and controlling the cleaning robot to turn according to the target steering path, comprises:

[0032] Acquire a path constraint correspondence relationship, where the path constraint correspondence relationship is used to indicate a correspondence relationship between a target steering constraint and a preset steering path;

[0033] Acquire a preset steering path corresponding to the current target steering constraint from the path constraint correspondence as a target steering path;

[0034] The steering instruction of the cleaning robot is adjusted according to the target turning path, and the cleaning robot is controlled to turn according to the adjusted steering instruction.

[0035] The beneficial effect of this technical solution is that the adjusted steering instructions are executed to control the cleaning robot to perform actual steering actions according to the target steering path so as to maintain it on the correct cleaning trajectory after correction.

[0036] 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.

[0037] The present application also provides a robot system, which includes the electronic device and the cleaning robot provided in the present application.

[0038] Preferably, the cleaning robot includes a robot body and a suction cup walking mechanism, the suction cup walking mechanism includes 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, and the first ultrasonic detection module is arranged at the front end of the auxiliary walking arm in the traveling direction of the cleaning robot.

[0039] Preferably, the cleaning robot further comprises a second ultrasonic detection module, and the second ultrasonic detection module and the first ultrasonic detection module are symmetrically arranged on the auxiliary walking arm on the other side of the main suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0041] Figure 1 A schematic flow chart of an ultrasonic deviation correction method provided in an embodiment of the present application is shown.

[0042] Figure 2 A schematic diagram of a process for obtaining a target steering constraint provided in an embodiment of the present application is shown.

[0043] Figure 3 A schematic diagram of a process for controlling the steering of a cleaning robot provided in an embodiment of the present application is shown.

[0044] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown.

[0045] Figure 5 A structural schematic diagram of a cleaning robot provided in the present application using a suction cup walking mechanism for moving forward is shown.

[0046] Figure 6 A schematic structural diagram of a cleaning robot provided in the present application is shown in an unfolded state. DETAILED DESCRIPTION

[0047] 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.

[0048] To facilitate the understanding of the technical solution, the cleaning robot of the embodiment of the present application is first briefly described below.

[0049] See also Figure 5 and Figure 6 , Figure 5 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 6 The schematic diagram of the structure of a cleaning robot provided by the present application in the unfolded state is shown. Figure 5 ① in the figure is the initial state of the cleaning robot; Figure 5 ② in the figure is the unfolded state of the suction cup walking mechanism of the cleaning robot; Figure 5 ③ is the rotation state of the suction cup walking mechanism of the cleaning robot with the main suction cup as the center; Figure 5 ④ in the figure is the contracted state of a secondary walking arm of the suction cup walking mechanism of the cleaning robot; Figure 5 ⑤ 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). Specifically, the suction cup walking mechanism can rotate a certain angle with the main suction cup (the default is the center point of the cleaning robot) as the center, and then move in the direction after the rotation.

[0050] The rotation state centered on the main suction cup is realized by a rotating motor. The rotating motor may be provided with a code disk, which can measure the rotation angle of the motor shaft, thereby obtaining the rotation position of the auxiliary walking arm.

[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 realizes the telescopic movement of the two auxiliary walking arms along their central axis in a direction away from or close to the main suction cup through a power mechanism.

[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 5As 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 5 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 5 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 5 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 5 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.

[0053] The above description of the cleaning robot is only for understanding the application scenario of an ultrasonic deviation correction method to be protected by the present application. In specific applications, the walking mechanism of the cleaning robot in the embodiment of the present application can also be a wheeled moving mechanism or a tracked moving mechanism, which can realize rotation around the center point of the cleaning robot by controlling the driving wheels on both sides to move at different speeds and directions.

[0054] The present application provides an ultrasonic deviation correction method, device and robot system for a cleaning robot, taking into account the problem that when a photovoltaic cleaning robot moves on a photovoltaic panel array, the movement deviation is caused by factors such as changes in friction with the surface of the photovoltaic panel, which affects the cleaning efficiency of the photovoltaic panel cleaning robot. The existing preset sensing blocks are matched with the sensing switch components of the cleaning robot, which have poor scalability and are easily affected by dust, etc., causing the deviation correction function to fail and the stability to be unsatisfactory. The present application uses an ultrasonic detection module to generate a target turning path after detecting the boundary cliff of the photovoltaic panel array, and synchronizes the deviation correction process with the turning process that is supposed to be carried out, thereby solving the above problems. The following will first explain the ultrasonic deviation correction method, and then explain the device and system.

[0055] Method embodiment.

[0056] See also Figure 1 , Figure 1 The flowchart of an ultrasonic deviation correction method provided by an embodiment of the present application is shown. This embodiment provides an ultrasonic deviation correction method applied to a cleaning robot, the cleaning robot is used for cleaning photovoltaic panels of a photovoltaic panel array, and the ultrasonic deviation correction method includes:

[0057] S101, using a first ultrasonic detection module to obtain an echo signal of a photovoltaic panel being cleaned, wherein the first ultrasonic detection module is disposed at the front end of the moving direction of the cleaning robot;

[0058] S102, when the echo signal indicates that the cleaning robot has reached the boundary of the photovoltaic panel array, controlling the cleaning robot to rotate around the center point of the cleaning robot and acquiring boundary detection data;

[0059] S103, acquiring a target steering constraint of the cleaning robot according to the boundary detection data;

[0060] S104, acquiring a target turning path of the cleaning robot according to the target turning constraint, and controlling the cleaning robot to turn according to the target turning path.

[0061] Among them, the boundary of the photovoltaic panel array refers to the physical edge of the photovoltaic panel array, that is, the end point of a row of photovoltaic panels. For the cleaning robot, when the cleaning robot moves to the boundary of the photovoltaic panel array, if the moving direction is not changed, it will fall. In specific applications, the preset moving direction of the cleaning robot is the boundary direction perpendicular to the forward direction. When the cleaning robot moves to the vicinity of the boundary, it turns 90 degrees to the left or right and moves a preset distance, and then continues to turn left or right to clean the photovoltaic panel area adjacent to the previously cleaned area, so as to achieve full coverage cleaning of the photovoltaic panel array.

[0062] The cleaning robot performs cleaning work in the photovoltaic panel array, and its front end is equipped with a first ultrasonic detection module for obtaining the echo signal of the photovoltaic panel being cleaned. When the echo signal shows that the robot is close to the boundary of the photovoltaic panel array, the cleaning robot rotates around the center point so as to obtain boundary detection data using the first ultrasonic detection module. By analyzing the boundary detection data, the target steering constraint of the cleaning robot can be determined. According to the target steering constraint, the target steering path is calculated, and the cleaning robot is guided to turn according to the target steering path to keep on the correct cleaning track and realize the deviation correction of the cleaning robot.

[0063] Therefore, there is no need to perform a separate correction action, but the correction process is synchronized with the steering process that is supposed to be carried out, reducing the impact of the cleaning robot's correction on the efficiency of the cleaning operation. The use of ultrasonic technology to correct the deviation at the boundary position of the photovoltaic panel array does not rely on the preset sensor block, so it is easier to adapt to photovoltaic panel arrays of different sizes and shapes, and improves scalability. The ultrasonic detection module is not easily affected by dust and other environmental factors, and provides a more stable correction function compared to traditional sensor blocks. Since there is no need to install and maintain sensor blocks on photovoltaic panels, the maintenance cost and complexity of the photovoltaic system are reduced. The cleaning robot can autonomously correct the deviation at the boundary position of the photovoltaic panel array, reducing the need for manual adjustment of the cleaning path and saving human resources.

[0064] In some embodiments, the cleaning robot includes a robot body and a suction cup walking mechanism, the suction cup walking mechanism includes 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 move the cleaning robot on the photovoltaic panel array, and the first ultrasonic detection module is arranged at the front end of the auxiliary walking arm in the moving direction of the cleaning robot;

[0065] The controlling the cleaning robot to rotate around the center point of the cleaning robot comprises:

[0066] The two auxiliary walking arms are controlled to extend away from the main walking arm, and then the auxiliary walking arms are controlled to rotate around the main suction cup. Figure 6 The two auxiliary walking arms and the auxiliary suction cups arranged thereon can be symmetrical with the main suction cup as the center, so that the auxiliary walking arms are more stable when rotating with the main suction cup as the center.

[0067] When the cleaning robot moves on the photovoltaic panel array, it uses the suction cup walking mechanism for stable adsorption and movement. The first ultrasonic detection module is installed at the front end of the auxiliary walking arm to detect obstacles or boundaries on the robot's route. When the boundary signal is detected, the two auxiliary walking arms are controlled to extend and move away from the main walking arm. Then, with the main suction cup as the center point, the auxiliary walking arm is driven to rotate, so that the cleaning robot can rotate in situ around the center point.

[0068] Therefore, the design of the suction cup walking mechanism simplifies the walking mechanism of the cleaning robot. The first ultrasonic detection module is set at the front end of the auxiliary walking arm in the direction of travel of the cleaning robot, which can be used for boundary (i.e. cliff) detection of the cleaning robot and reused for data collection in the ultrasonic correction process. There is no need to add new collection devices, saving costs; at the same time, the power of the cleaning robot comes from the rechargeable battery, which reduces the addition of devices and avoids the increase of the weight of the cleaning robot, thereby affecting the battery life, reducing the charging frequency and improving the cleaning efficiency.

[0069] In some embodiments, the boundary detection data includes first angle data and second angle data; the first angle data and the second angle data are obtained when the first ultrasonic detection module intersects the boundary of the photovoltaic panel array twice when the auxiliary walking arm rotates one circle with the main suction cup as the center.

[0070] When the cleaning robot performs cleaning operations on the photovoltaic panel array, it uses the first ultrasonic detection module installed at the front end of the auxiliary walking arm to detect the distance from the boundary of the photovoltaic panel array. When the robot moves to the boundary of the photovoltaic panel array, it controls the two auxiliary walking arms to extend away from the main walking arm. At this time, the first ultrasonic detection module of the auxiliary walking arm in the direction of travel extends beyond the boundary, and the auxiliary walking arm rotates around the main suction cup as the center. During the rotation process, the first ultrasonic detection module intersects the boundary of the photovoltaic panel array (in the direction of travel of the cleaning robot) twice, and obtains the first angle data and the second angle data respectively. The first angle data and the second angle data reflect the position and posture of the cleaning robot relative to the boundary of the photovoltaic panel array, and the direction of travel of the cleaning robot can be adjusted to avoid deviating from the cleaning path. In specific applications, it can also be considered that the rotation process is gradually stable, and the data of the middle circle is taken as the first angle data and the second angle data.

[0071] Therefore, through the angle data obtained from the two intersections, the cleaning robot corrects the deviation through the fixed feature of the boundary position, thereby improving the accuracy of the cleaning path. Accurate boundary detection helps the robot adjust its direction in time when approaching the boundary of the photovoltaic panel array to avoid missing the cleaning area. Accurate boundary detection and timely steering adjustment reduce repeated cleaning and missed cleaning, and improve the overall cleaning efficiency.

[0072] In some embodiments, the cleaning robot further includes a second ultrasonic detection module, which is symmetrically arranged with the first ultrasonic detection module on the auxiliary walking arm on the other side of the main suction cup; the boundary detection data also includes the third angle data and the fourth angle data obtained when the auxiliary walking arm rotates one circle with the main suction cup as the center, and the second ultrasonic detection module intersects the boundary of the photovoltaic panel array twice. In specific applications, it can also be considered that the rotation process is gradually stable, and the data of the middle circle is taken as the third angle data and the fourth angle data.

[0073] See also Figure 2 , Figure 2 A schematic diagram of a process for obtaining a target steering constraint provided by an embodiment of the present application is shown. The process of obtaining the target steering constraint of the cleaning robot according to the boundary detection data includes:

[0074] S201, acquiring an intermediate steering constraint according to the first angle data and the second angle data;

[0075] S202, verifying the intermediate steering constraint using the third angle data and the fourth angle data, and when the verification passes, using the intermediate steering constraint as a target steering constraint;

[0076] S203, when the verification fails, start counting and add one to the statistical number, detect whether the statistical number is greater than the preset statistical number, and when the statistical number is greater than the preset statistical number, clear the statistical number and send a prompt message to the terminal device of the administrator; the prompt message is used to remind the administrator to pay attention to the boundary detection data acquisition capability of the ultrasonic detection module;

[0077] S204, when the statistical number is not greater than a preset statistical number, control the cleaning robot to rotate around the center point of the cleaning robot and update the boundary detection data, and then execute S201. The preset statistical number is, for example, 3 times, 5 times, or 6 times.

[0078] In this embodiment, the cleaning robot is equipped with two ultrasonic detection modules, which are respectively installed at the front ends of the two auxiliary walking arms and are symmetrically arranged with the main suction cup as the center. When the robot moves to the boundary of the photovoltaic panel array, the auxiliary walking arm will rotate one circle with the main suction cup as the center. During this process, the two ultrasonic detection modules intersect with the boundary of the photovoltaic panel array respectively, and obtain two sets of angle data (first angle data and second angle data, third angle data and fourth angle data). The relative position of the cleaning robot and the boundary of the photovoltaic panel array can be determined by the first angle data and the second angle data, so as to obtain the intermediate steering constraint. Then, the intermediate steering constraint is verified using another set of angle data. If the verification passes, the constraint is used as the target steering constraint; if the verification fails, the statistical number is recorded, and a prompt message is sent to the manager when the preset statistical number is exceeded to prompt the manager to check the performance of the two ultrasonic detection modules. If the statistical number does not exceed the preset number, the cleaning robot will continue to rotate and obtain new boundary detection data, and execute the step of obtaining the intermediate steering constraint again.

[0079] Therefore, through the dual detection of the two ultrasonic detection modules, the position of the cleaning robot relative to the boundary of the photovoltaic panel array can be determined more accurately, thereby improving the positioning accuracy. The verification step ensures that when inaccurate boundary detection data is obtained, it can be identified and measures can be taken in time to avoid wrong steering decisions. When it is detected that the ability to obtain boundary detection data has decreased, the management personnel are notified in time, which helps to timely maintain and calibrate to ensure the normal operation of the cleaning robot. Throughout the process, the cleaning robot can make decisions and adjustments independently, reducing human intervention and improving the degree of automation.

[0080] During rotation, the ultrasonic detection module will intersect with the boundary and record the first angle data and the second angle data. The first angle data and the second angle data reflect the position change of the ultrasonic detection module relative to the photovoltaic panel during the rotation process. At the same time, the position information of the photovoltaic panel cleaning robot is obtained. The position information may include the position of the photovoltaic panel cleaning robot itself (the absolute position relative to the photovoltaic panel array or the relative position relative to the starting point). According to the position information, the center of the main suction cup of the photovoltaic panel cleaning robot under the ideal state (without deviation) and the center boundary distance of the boundary can be obtained. By combining the first angle data, the second angle data and the center boundary distance, the angle difference between the actual direction of travel and the angle of the boundary of the photovoltaic panel cleaning robot and the preset direction of travel and the angle of the boundary can be calculated. The intermediate steering constraint is the constraint parameter that compensates for the above-mentioned angle difference. For example, if the angle difference indicates a deviation of 5 degrees to the right, the intermediate steering constraint is to turn 5 degrees more to the left to compensate for the above-mentioned angle difference.

[0081] As an example, an intermediate steering constraint (C1) is calculated using the first and second angle data, and another steering constraint (C2) is calculated using the third and fourth angle data. The difference between C1 and C2 is compared, and if it is within a predefined error range (for example, the angle difference is less than 1 degree), the verification is considered to have passed. If the verification passes (C1 and C2 are consistent), C1 is used as the target steering constraint. If the verification fails, an error is recorded and a re-test or alarm is triggered.

[0082] In some embodiments, the suction cup walking mechanism includes a code disk for recording the rotation angle of the auxiliary walking arm, and the first angle data and the second angle data are obtained by:

[0083] When the auxiliary walking arm rotates one circle, when the first ultrasonic detection module detects a boundary from the photovoltaic panel array, the angle data of the code disk is used as the first angle data; when the photovoltaic panel array is detected outside the boundary by the first ultrasonic detection module, the angle data of the code disk is used as the second angle data;

[0084] The method for acquiring the third angle data and the fourth angle data includes:

[0085] When the boundary of the photovoltaic panel array in the forward direction is detected for the first time by the second ultrasonic detection module, the angle data of the code disk is used as the third angle data; when the boundary of the photovoltaic panel array in the forward direction is detected again by the second ultrasonic detection module, the angle data of the code disk is used as the fourth angle data.

[0086] A code disk is installed on the suction cup walking mechanism (rotating motor) of the cleaning robot, which is used to record the rotation angle of the auxiliary walking arm in real time. The specific content has been stated above and will not be repeated here. When any ultrasonic detection module detects the boundary of the photovoltaic panel array for the first time, the code disk records and provides the current angle data. For the first ultrasonic detection module, the first angle data is recorded as the first angle data; for the second ultrasonic detection module, the first angle data is recorded as the third angle data. When the same ultrasonic detection module detects the boundary of the photovoltaic panel array again, the code disk records and provides the current angle data again, which are recorded as the second angle data and the fourth angle data respectively.

[0087] During the rotation of the cleaning robot, the ultrasonic module will continue to perform boundary detection in conjunction with the code disk of the rotating motor. If a boundary is detected, the data of the current code disk will be recorded, and the data of the next code disk when a boundary is detected will be recorded. Half of the sum of the two will be taken to obtain the data when the cleaning robot is perpendicular to the boundary. At the same time, the position information of the photovoltaic panel cleaning robot can be obtained. The position information may include the orientation of the photovoltaic panel cleaning robot itself (the absolute position relative to the photovoltaic panel array or the relative position relative to the starting point), to determine whether the cleaning robot has deviated and the degree of deviation.

[0088] Therefore, the use of the encoder provides continuous angle feedback, enhancing the navigation capability of the cleaning robot for path planning during the deviation correction process. Accurate boundary detection and steering constraints help the cleaning robot plan the cleaning path more efficiently, reducing the possibility of repeated cleaning and missed cleaning.

[0089] See also Figure 3 , Figure 3 A schematic diagram of a process for controlling the steering of a cleaning robot provided by an embodiment of the present application is shown. In some embodiments, the target steering constraint includes a forward steering angle or a reverse steering angle of a suction cup walking mechanism of the cleaning robot; the target steering path of the cleaning robot is obtained according to the target steering constraint, and the cleaning robot is controlled to turn according to the target steering path, including:

[0090] S301, obtain the path constraint correspondence, which is used to indicate the correspondence between the target steering constraint and the preset steering path; for example, when the target steering constraint is +5 degrees, the corresponding preset steering path is path A, and path A describes in detail how the cleaning robot should adjust the speed and direction of its walking mechanism to achieve steering.

[0091] S302, obtaining a preset turning path corresponding to the current target turning constraint from the path constraint correspondence as the target turning path. It can be understood that, according to the current target turning constraint, the path constraint correspondence table is queried to find the preset turning path corresponding thereto.

[0092] S303, adjusting the steering instruction of the cleaning robot according to the target steering path, and controlling the cleaning robot to turn according to the adjusted steering instruction. The steering instruction is a detailed operation instruction calculated according to the preset steering path, which is used to guide the robot's walking mechanism to perform a specific steering action. These instructions may include motor speed adjustment, direction control, starting and ending points of steering, etc.

[0093] First, determine the target steering constraint. The target steering constraint refers to the angle at which the robot needs to turn, which can be a positive (clockwise) or reverse (counterclockwise) steering angle. At the same time, the path constraint correspondence can be a preset correspondence table, which defines the relationship between different target steering constraints and specific preset steering paths. When the target steering constraint is determined, search the path constraint correspondence table to find the preset steering path corresponding to the current target steering constraint, and set it as the robot's target steering path. The control system of the cleaning robot adjusts the steering command of the cleaning robot according to the target steering path, such as adjusting the motor speed and direction of the walking mechanism to achieve the required steering action. Execute the adjusted steering command to control the cleaning robot to perform the actual steering action according to the target steering path to keep it on the correct cleaning trajectory after correction.

[0094] As an example, an ultrasonic deviation correction method applied to a cleaning robot is provided, where the cleaning robot is used for cleaning photovoltaic panels of a photovoltaic panel array.

[0095] The cleaning robot includes a robot body and a suction cup walking mechanism, the suction cup walking mechanism includes 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 move the cleaning robot on the photovoltaic panel array, the first ultrasonic detection module is arranged at the front end of the auxiliary walking arm in the moving direction of the cleaning robot; the cleaning robot also includes a second ultrasonic detection module, the second ultrasonic detection module is symmetrically arranged on the other auxiliary walking arm with the main suction cup as the center; the boundary detection data includes first angle data, second angle data, third angle data, and fourth angle data; the first angle data and the second angle data are obtained when the auxiliary walking arm rotates one circle with the main suction cup as the center, and the first ultrasonic detection module intersects with the boundary of the photovoltaic panel array twice; the third angle data and the fourth angle data are obtained when the other auxiliary walking arm rotates one circle with the main suction cup as the center, and the second ultrasonic detection module intersects with the boundary of the photovoltaic panel array twice. The suction cup walking mechanism includes a code disk for recording the rotation angle of the auxiliary walking arm.

[0096] Ultrasonic correction methods include:

[0097] R1, using the first ultrasonic detection module to obtain the echo signal of the photovoltaic panel being cleaned;

[0098] R2, when the echo signal indicates that the cleaning robot has reached the boundary of the photovoltaic panel array, the two auxiliary walking arms are controlled to extend away from the main walking arm, and then the auxiliary walking arms are controlled to rotate around the main suction cup and the boundary detection data is obtained;

[0099] R3, obtaining an intermediate steering constraint according to the first angle data and the second angle data;

[0100] R4, using the third angle data and the fourth angle data to verify the intermediate steering constraint, and when the verification passes, taking the intermediate steering constraint as the target steering constraint;

[0101] R5, when the verification fails, start counting and add one to the statistical number, and check 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 prompt message is sent to the terminal device of the administrator. The prompt message is used to remind the administrator to pay attention to the boundary detection data acquisition capability of the ultrasonic detection module;

[0102] R6, when the number of statistics is not greater than the preset number of statistics, the cleaning robot is controlled to rotate around the center point of the cleaning robot (i.e., the main suction cup) and obtain boundary detection data, and R3 is executed;

[0103] R7, when the verification passes, obtain the path constraint correspondence relationship, where the path constraint correspondence relationship is used to indicate the correspondence relationship between the target steering constraint and the preset steering path;

[0104] R8, obtaining a preset steering path corresponding to the current target steering constraint from the path constraint correspondence as the target steering path;

[0105] R9 adjusts the steering command of the cleaning robot according to the target steering path, and controls the cleaning robot to turn according to the adjusted steering command.

[0106] The first angle data and the second angle data are obtained by:

[0107] When the auxiliary walking arm rotates one circle, when the boundary is detected from the photovoltaic panel array by using the first ultrasonic detection module, the angle data of the code disk is used as the first angle data; when the photovoltaic panel array is detected outside the boundary by using the first ultrasonic detection module, the angle data of the code disk is used as the second angle data.

[0108] The method for obtaining the third angle data and the fourth angle data includes:

[0109] When the boundary of the photovoltaic panel array in the forward direction is detected for the first time by the second ultrasonic detection module, the angle data of the code disk is used as the third angle data; when the boundary of the photovoltaic panel array in the forward direction is detected again by the second ultrasonic detection module, the angle data of the code disk is used as the fourth angle data.

[0110] The technical solution realizes the precise deviation correction of the photovoltaic cleaning robot on the photovoltaic panel array through the cooperation of the ultrasonic detection module and the suction cup walking mechanism. Specifically, when the cleaning robot moves to the boundary of the photovoltaic panel array, the first ultrasonic detection module detects the boundary respectively and triggers the rotation mechanism. The two auxiliary walking arms extend and move away from the main walking arm, and then rotate around the main suction cup, and the rotation angle is recorded by the code disk. The first and second ultrasonic detection modules detect the boundary during the rotation process respectively, and record the angle data of the code disk when the boundary is detected for the first and second time, that is, the first angle data and the second angle data, as well as the third angle data and the fourth angle data. The first and second angle data are used to calculate the intermediate steering constraint. The third and fourth angle data are used to verify the intermediate steering constraint. If the verification passes, the constraint is confirmed as the target steering constraint. If the verification fails, the statistical number is recorded and the boundary detection data is re-acquired. If the statistical number exceeds the preset number, a prompt message is sent to the management personnel to remind them to pay attention to the performance of the ultrasonic detection module. According to the target steering constraint, the corresponding path is selected from the preset steering path as the target steering path. Adjust the steering command of the robot to control the cleaning robot to turn according to the target steering path to correct the direction of travel.

[0111] The beneficial effect of this technical solution is that there is no need to perform a separate deviation correction action, but the deviation correction process is synchronized with the turning process that is supposed to be carried out, reducing the impact of the cleaning robot's deviation correction on the efficiency of the cleaning operation. Using ultrasonic technology to correct the deviation at the boundary position of the photovoltaic panel array makes it easier to adapt to photovoltaic panel arrays of different sizes and shapes, and has good scalability. The ultrasonic detection module is not easily affected by dust and other environmental factors, and provides a more stable deviation correction function compared to traditional sensing blocks. The accuracy of the deviation correction is improved through the collaborative work of the two ultrasonic detection modules. Accurate deviation correction ensures that the robot can cover the entire surface of the photovoltaic panel and improves the cleaning coverage rate. The additional maintenance work caused by inaccurate deviation correction is reduced, and the maintenance cost is reduced. The cliff detection at the boundary of the photovoltaic panel array is used to correct the cleaning robot in real time at the same time, ensuring that the cleaning robot can walk straight, improving efficiency and cleaning coverage.

[0112] Electronic device embodiments.

[0113] 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 any one of the method embodiments when executing the computer program.

[0114] See also Figure 4 , Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown.

[0115] 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.

[0116] 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 .

[0117] 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.

[0118] 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.

[0119] Accordingly, the processor 12 may execute the above-mentioned computer program, and may execute the utility 114 .

[0120] 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.

[0121] 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.

[0122] 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.

[0123] System Embodiments.

[0124] The embodiment of the present application provides a robot system, wherein the photovoltaic panel cleaning robot comprises: the electronic device and the cleaning robot described in the device embodiment. The specific implementation of the cleaning robot is consistent with the implementation method and the technical effect achieved in the above embodiment, and some contents are not repeated here.

[0125] In some embodiments, the cleaning robot includes a robot body and a suction cup walking mechanism, the suction cup walking mechanism includes 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, and the first ultrasonic detection module is arranged at the front end of the auxiliary walking arm in the moving direction of the cleaning robot.

[0126] In some embodiments, the cleaning robot further includes a second ultrasonic detection module, and the second ultrasonic detection module is symmetrically arranged with the first ultrasonic detection module on the auxiliary walking arm on the other side of the main suction cup.

[0127] 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.

[0128] 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.

[0129] 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. An ultrasonic deviation correction method applied to a cleaning robot, characterized in that: The cleaning robot is used for cleaning photovoltaic panels of a photovoltaic panel array, and the ultrasonic deviation correction method includes: Acquiring an echo signal of the photovoltaic panel being cleaned by using a first ultrasonic detection module, wherein the first ultrasonic detection module is arranged at the front end of the moving direction of the cleaning robot; When the echo signal indicates that the cleaning robot has reached the boundary of the photovoltaic panel array, the cleaning robot is controlled to rotate around the center point of the cleaning robot and obtain boundary detection data; According to the boundary detection data, obtaining the target steering constraint of the cleaning robot; According to the target turning constraint, the target turning path of the cleaning robot is obtained, and the cleaning robot is controlled to turn according to the target turning path.

2. The ultrasonic deviation correction method for a cleaning robot according to claim 1, characterized in that: The cleaning robot comprises a robot body and a suction cup walking mechanism, wherein the suction cup walking mechanism comprises 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 array, and the first ultrasonic detection module is arranged at the front end of the auxiliary walking arm in the moving direction of the cleaning robot; The controlling the cleaning robot to rotate around the center point of the cleaning robot comprises: The two auxiliary walking arms are controlled to extend to be away from the main walking arm, and then the auxiliary walking arms are controlled to rotate with the main suction cup as the center.

3. The ultrasonic deviation correction method for a cleaning robot according to claim 2, characterized in that: The boundary detection data includes first angle data and second angle data; the first angle data and the second angle data are obtained when the first ultrasonic detection module intersects the boundary of the photovoltaic panel array twice when the auxiliary walking arm rotates one circle with the main suction cup as the center.

4. The ultrasonic deviation correction method for a cleaning robot according to claim 3, characterized in that: The cleaning robot further includes a second ultrasonic detection module, which is symmetrically arranged with the first ultrasonic detection module on the auxiliary walking arm on the other side of the main suction cup; the boundary detection data also includes third angle data and fourth angle data obtained by the second ultrasonic detection module intersecting the boundary of the photovoltaic panel array twice when the auxiliary walking arm rotates one circle with the main suction cup as the center; The step of obtaining the target steering constraint of the cleaning robot according to the boundary detection data includes: S1, acquiring an intermediate steering constraint according to the first angle data and the second angle data; S2, using the third angle data and the fourth angle data to verify the intermediate steering constraint, and when the verification passes, using the intermediate steering constraint as a target steering constraint; S3, when the verification fails, start counting and add one to the statistical number, detect whether the statistical number is greater than the preset statistical number, and when the statistical number is greater than the preset statistical number, clear the statistical number and send a prompt message to the terminal device of the administrator, the prompt message is used to remind the administrator to pay attention to the boundary detection data acquisition capability of the ultrasonic detection module; S4, when the statistical number is not greater than the preset statistical number, control the cleaning robot to rotate around the center point of the cleaning robot and update the boundary detection data, and then execute S1.

5. The ultrasonic deviation correction method for a cleaning robot according to claim 4, characterized in that: The suction cup walking mechanism includes a code disk for recording the rotation angle of the auxiliary walking arm, and the first angle data and the second angle data are obtained by: When the auxiliary walking arm rotates one circle, when the first ultrasonic detection module detects a boundary from the photovoltaic panel array, the angle data of the code disk is used as the first angle data; when the photovoltaic panel array is detected outside the boundary by the first ultrasonic detection module, the angle data of the code disk is used as the second angle data; The method for acquiring the third angle data and the fourth angle data includes: When the boundary of the photovoltaic panel array in the forward direction is detected for the first time by the second ultrasonic detection module, the angle data of the code disk is used as the third angle data; when the boundary of the photovoltaic panel array in the forward direction is detected again by the second ultrasonic detection module, the angle data of the code disk is used as the fourth angle data.

6. The ultrasonic deviation correction method for a cleaning robot according to claim 2, characterized in that: The target steering constraint includes a forward steering angle or a reverse steering angle of a suction cup walking mechanism of the cleaning robot; acquiring a target steering path of the cleaning robot according to the target steering constraint, and controlling the cleaning robot to turn according to the target steering path, including: Acquire a path constraint correspondence relationship, where the path constraint correspondence relationship is used to indicate a correspondence relationship between a target steering constraint and a preset steering path; Acquire a preset steering path corresponding to the current target steering constraint from the path constraint correspondence as a target steering path; The steering instruction of the cleaning robot is adjusted according to the target turning path, and the cleaning robot is controlled to turn according to the adjusted steering instruction.

7. An electronic device, 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 6.

8. A robot system, characterized in that: The robot system includes the electronic device described in claim 7 and a cleaning robot.

9. The robot system according to claim 8, characterized in that: The cleaning robot includes a robot body and a suction cup walking mechanism, the suction cup walking mechanism includes 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, and the first ultrasonic detection module is arranged at the front end of the auxiliary walking arm in the moving direction of the cleaning robot.

10. The robot system according to claim 9, characterized in that: The cleaning robot also includes a second ultrasonic detection module, which is symmetrically arranged with the first ultrasonic detection module on the auxiliary walking arm on the other side of the main suction cup.

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