Photovoltaic cleaning robot and method for improving gradeability of photovoltaic cleaning robot and preventing slipping and sideslip of photovoltaic cleaning robot

Abstract

The photovoltaic cleaning robot comprises a robot body, and a cleaning system, a moving system and a control system are arranged on the robot body; a top propeller set and a tail propeller set are arranged on the top face and the rear side face of the robot body correspondingly. The top propeller set is used for providing pressure perpendicular to a photovoltaic panel for the robot body. The tail propeller set at least comprises two pairs of first propellers located on the two sides of the rear side face of the robot body correspondingly. The control system comprises a micro-control unit, and a slip detection module, an operation state detection module and a propeller control module which are respectively connected with the micro-control unit. The invention further discloses a method for improving the gradeability of the photovoltaic cleaning robot and preventing slipping and sideslip. According to the photovoltaic cleaning robot and the method for improving the gradeability of the photovoltaic cleaning robot and preventing slipping and side slipping of the photovoltaic cleaning robot, the gradeability can be effectively improved, and slipping and side slipping are prevented.

Description

Technical Field

[0001] The present invention belongs to the technical field of cleaning robots, and specifically relates to a photovoltaic cleaning robot and a method for improving its climbing ability and preventing it from slipping and sideslipping. Background Art

[0002] The efficiency of photovoltaic power generation is affected by many external factors, and dust is the most important. Sandstorms, dust, air pollution, flying catkins, etc. cause dust accumulation on the surface of photovoltaic modules and reduce power generation. This phenomenon of power generation loss due to dust accumulation is called "ash loss" in the industry. According to research, dust accumulation reduces the transmittance of photovoltaic panels by 10%-30%, directly affects the photocurrent output, and causes a 20%-40% decrease in power generation performance. Therefore, cleaning the photovoltaic panel surface is an important subject in the photovoltaic industry. So far, a variety of cleaning solutions have been developed, such as manual cleaning, mechanized cleaning vehicle cleaning, cleaning robot cleaning, etc.

[0003] Cleaning robots are divided into track-type photovoltaic cleaning robots and autonomous mobile photovoltaic cleaning robots. Among them, autonomous mobile photovoltaic cleaning robots use wheeled structures or track structures to navigate and move autonomously, do not require complicated installation processes, and are suitable for photovoltaic arrays of various sizes. At the same time, they have higher efficiency, can achieve remote cleaning and intelligent control, etc., and have become increasingly popular in recent years.

[0004] However, since photovoltaic panels are generally installed at an angle, and the climbing angle of cleaning robots on the market is generally below 20°, when the photovoltaic panel is installed at a large slope (for example, the optimal installation angle of photovoltaic panels in northern China is generally between 35° and 46°), the cleaning robot is prone to slipping, side sliding, and falling due to the limitation of the robot's climbing ability, thus limiting the cleaning application of the cleaning robot in photovoltaic arrays with large slopes. Therefore, it is of great significance to design a photovoltaic cleaning robot that can adapt to large slopes and prevent slipping and side sliding.

[0005] In order to solve the problem of robot slipping and side sliding in the cleaning of photovoltaic panels on a large slope and improve the robot's climbing ability, a variety of solutions have been proposed in the prior art, mainly including optimizing the track design, installing suction cups at the bottom and using the lift of drones to prevent the robot from slipping. Among them, the optimization of the track design mainly adopts different track patterns or more non-slip track materials, but it cannot significantly improve the climbing ability of the photovoltaic cleaning robot, and the climbing ability is still limited to 20-25 degrees. The bottom installation of suction cups requires the cleaning area to be very flat or even smooth; but since the photovoltaic array is formed by the arrangement and combination of several photovoltaic panels, there are installation gaps between each photovoltaic panel, and it is impossible to achieve strict flatness. Therefore, the suction cup solution is basically unusable. The way to use the lift of drones to prevent the robot from slipping is to integrate the drone with the robot, but the propeller blades of the drone are prone to collision with the photovoltaic panel, and the upward pulling force of the drone also reduces the friction between the cleaning robot and the photovoltaic panel, affecting the cleaning effect. Summary of the invention

[0006] In view of this, the purpose of the present invention is to provide a photovoltaic cleaning robot and a method for improving its climbing ability and preventing slipping and side sliding, which can effectively improve its climbing ability and prevent slipping and side sliding.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] The present invention first proposes a photovoltaic cleaning robot, comprising a robot body, on which a cleaning system, a moving system and a control system are provided; a top propeller group and a tail propeller group are respectively provided on the top surface and the rear side surface of the robot body; the top propeller group is used to provide a pressure perpendicular to the photovoltaic panel to the robot body; the tail propeller group includes at least two pairs of first propellers respectively located on both sides of the rear side surface of the robot body;

[0009] The control system includes a micro control unit and a slip detection module, an operation status detection module, and a propeller control module respectively connected to the micro control unit;

[0010] The slip detection module includes an inertial measurement unit and a wheel odometer. The inertial measurement unit is used to measure the robot's operating data including heading angle, roll angle, pitch angle, linear velocity, angular velocity and displacement in real time and obtain the robot's tilt angle. The wheel odometer is used to measure the robot's operating data including speed and displacement in real time. The slip detection module determines whether the robot is in a slip state of skidding and side sliding by combining the robot's operating data measured by the inertial measurement unit and the wheel odometer.

[0011] The operation state detection module determines the movement state of the robot according to the robot operation data measured by the inertial measurement unit and the wheel odometer or according to the planned cleaning path combined with the real-time positioning of the robot, and the movement state includes lateral movement, longitudinal movement and turning;

[0012] The propeller control module controls the top propeller group and the tail propeller group to operate at a set speed and direction according to the movement state, sliding state and tilt angle of the robot.

[0013] Furthermore, the method by which the operating status detection module judges the movement state of the robot is: when the roll angle measured by the inertial measurement unit is greater than the pitch angle, and the difference between the roll angle and the pitch angle is greater than the set first angle threshold, the robot is judged to be in a lateral movement state; when the pitch angle measured by the inertial measurement unit is greater than the roll angle, and the difference between the pitch angle and the roll angle is greater than the set second angle threshold, the robot is judged to be in a longitudinal movement state; when the speed difference of the driving wheels on both sides of the robot body measured by the inertial measurement unit or the wheel odometer is greater than the set speed threshold, the robot is judged to be in a turning movement state.

[0014] Furthermore, the method by which the slip detection module determines that the robot is in a slipping state is: if the deviation between the displacement measured by the inertial measurement unit and the displacement measured by the wheel odometer is greater than a set displacement threshold, or, if the deviation between the speed measured by the inertial measurement unit and the speed measured by the wheel odometer is greater than a set speed threshold, or, if the robot is a non-tracked robot and the speed difference between the driving wheel and the driven wheel of the robot is greater than a set speed threshold; then it is determined that the robot is in a slipping state.

[0015] Furthermore, the method by which the slip detection module determines whether the robot is in a sideslip state is as follows: if the deviation between the real-time heading measured by the inertial measurement unit and the planned cleaning path direction is greater than a set first heading angle threshold; or if the deviation between the real-time heading measured by the inertial measurement unit and the average heading from the starting time to time t of the cleaning path is greater than a set second heading angle threshold; then the robot is determined to be in a sideslip state.

[0016] Furthermore, if the tilt angle of the robot is greater than or equal to a set threshold, the propeller control module controls the top propeller group to rotate and provides auxiliary pressure; the magnitude of the auxiliary pressure satisfies:

[0017]

[0018] Where: F is the auxiliary pressure provided by the top propeller group; M is the weight of the robot body; α 0 is the slope threshold; β is the actual slope value, and β≥α 0 .

[0019] Furthermore, the control system also includes a remote control module, and the remote control module is used to receive a remote control signal to achieve remote control.

[0020] Furthermore, the top propeller group is arranged at the center of the robot body, and the top propeller group includes at least one pair of second propellers; the tail propeller group also includes at least one third propeller located between the two first propellers.

[0021] The present invention also proposes a method for improving the climbing ability of a photovoltaic cleaning robot and preventing it from slipping and sliding. The photovoltaic cleaning robot adopts the photovoltaic cleaning robot as described above. The method comprises: placing the cleaning robot on the photovoltaic panel to be cleaned, starting the photovoltaic robot to move along the photovoltaic panel according to the planned cleaning path and performing a cleaning operation on the photovoltaic panel; while the photovoltaic cleaning robot is performing the cleaning operation:

[0022] The inertial measurement unit is used to measure the robot's operating data including heading angle, roll angle, pitch angle, linear velocity, angular velocity and displacement in real time and obtain the robot's tilt angle. The wheel odometer is used to measure the robot's operating data including speed and displacement in real time.

[0023] The slip detection module determines whether the robot is in a slipping and sideslipping state by combining the robot operation data measured by the inertial measurement unit and the wheel odometer;

[0024] The operation state detection module determines the movement state of the robot according to the robot operation data measured by the inertial measurement unit and the wheel odometer or according to the planned cleaning path combined with the real-time positioning of the robot, and the movement state includes lateral movement, longitudinal movement and turning;

[0025] The propeller control module controls the top propeller group and the tail propeller group to operate at a set speed and direction according to the movement state, sliding state and tilt angle of the robot, and:

[0026] When the running status detection module determines that the robot is in a moving state of moving vertically upward:

[0027] If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at a set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the forward rotation speed until the forward rotation speed of the top propeller group reaches a set second speed, and if the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate forward and provide thrust;

[0028] If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference of the two first propellers to correct the heading;

[0029] When the running status detection module determines that the robot is in a moving state of moving vertically downward:

[0030] If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at a set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the forward rotation speed until the forward rotation speed of the top propeller group reaches a set second speed, and if the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate in the opposite direction and provide resistance;

[0031] If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference of the two first propellers to correct the heading;

[0032] When the running status detection module determines that the robot is in a lateral moving state:

[0033] If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at a set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the forward rotation speed until the forward rotation speed of the top propeller group reaches a set second speed, and if the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate forward and provide thrust;

[0034] If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference of the two first propellers to correct the heading;

[0035] When the running state detection module determines that the robot is in a turning moving state, the propeller control module adjusts the speed difference between the two first propellers to assist in turning.

[0036] Furthermore, the method by which the operating status detection module judges the movement state of the robot is: when the roll angle measured by the inertial measurement unit is greater than the pitch angle, and the difference between the roll angle and the pitch angle is greater than the set first angle threshold, the robot is judged to be in a lateral movement state; when the pitch angle measured by the inertial measurement unit is greater than the roll angle, and the difference between the pitch angle and the roll angle is greater than the set second angle threshold, the robot is judged to be in a longitudinal movement state; when the speed difference of the driving wheels on both sides of the robot body measured by the inertial measurement unit or the wheel odometer is greater than the set speed threshold, the robot is judged to be in a turning movement state.

[0037] Furthermore, the method by which the slip detection module determines that the robot is in a slipping state is: if the deviation between the displacement measured by the inertial measurement unit and the displacement measured by the wheel odometer is greater than a set displacement threshold, or, if the deviation between the speed measured by the inertial measurement unit and the speed measured by the wheel odometer is greater than a set speed threshold, or, if the robot is a non-tracked robot and the speed difference between the driving wheel and the driven wheel of the robot is greater than a set speed threshold; then it is determined that the robot is in a slipping state.

[0038] Furthermore, the method by which the slip detection module determines whether the robot is in a sideslip state is as follows: if the deviation between the real-time heading measured by the inertial measurement unit and the planned cleaning path direction is greater than a set first heading angle threshold; or if the deviation between the real-time heading measured by the inertial measurement unit and the average heading from the starting time to time t of the cleaning path is greater than a set second heading angle threshold; then the robot is determined to be in a sideslip state.

[0039] Furthermore, if the tilt angle of the robot is greater than or equal to a set threshold, the propeller control module controls the top propeller group to rotate and provides auxiliary pressure; the magnitude of the auxiliary pressure satisfies:

[0040]

[0041] Where: F is the auxiliary pressure provided by the top propeller group; M is the weight of the robot body; α 0 is the slope threshold; β is the actual slope value, and β≥α 0 .

[0042] The beneficial effects of the present invention are:

[0043] The photovoltaic cleaning robot of the present invention respectively installs a top propeller assembly and a tail propeller assembly on the top surface and the rear side surface of the robot body. The top propeller assembly can provide the robot body with auxiliary pressure perpendicular to the photovoltaic panel to increase the friction between the robot body and the photovoltaic panel, thereby enhancing the climbing ability; in the process of performing the cleaning operation, an inertial measurement unit and a wheel odometer are used to measure the operating data including the heading angle, roll angle, pitch angle, linear speed, angular velocity and displacement in real time and obtain the inclination angle of the robot, which is equal to the slope of the photovoltaic panel; in this way, the slip detection module can determine whether the robot is slipping and side sliding according to the measured operating data, and the operating state detection module can determine the movement state of the robot according to the measured operating data; specifically, when the robot moves longitudinally upward: if the robot slips, the propeller control module controls the top propeller group to rotate forward to provide additional pressure and controls the tail propeller group to rotate forward The robot tilts downward by adjusting the speed of the two first propellers to provide a thrust to assist the robot in climbing a slope; if the robot slips, the propeller control module adjusts the speed difference of the two first propellers to correct the heading; when the robot moves longitudinally downward, if the robot slips, the propeller control module controls the top propeller group to rotate forward to provide additional pressure and controls the tail propeller group to rotate reversely to provide resistance to assist the robot in moving downward; if the robot slips, the propeller control module adjusts the speed difference of the two first propellers to correct the heading; when the robot moves laterally, if the robot slips, the propeller control module controls the top propeller group to rotate forward to provide additional pressure and controls the tail propeller group to rotate forward to provide thrust; if the robot slips, the propeller control module adjusts the speed difference of the two first propellers to correct the heading; when the robot turns, the propeller control module adjusts the speed difference of the two first propellers to assist in turning; in summary, the photovoltaic cleaning robot of the present invention can effectively improve its climbing ability and prevent slipping and sideslipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0045] Figure 1 This is a schematic diagram of the structure of the photovoltaic cleaning robot when it moves on the photovoltaic panel array;

[0046] Figure 2 This is a force analysis diagram of the photovoltaic cleaning robot when it moves vertically upward on the photovoltaic panel;

[0047] Figure 3 This is a force analysis diagram of the photovoltaic cleaning robot when it moves horizontally on the photovoltaic panel;

[0048] Figure 4 This is a schematic diagram of the structure of the photovoltaic cleaning robot;

[0049] Figure 5 This is the schematic diagram of the control system.

[0050] Description of reference numerals:

[0051] 10-robot body; 11-cleaning system; 12-moving system; 13-top propeller group; 131-second propeller; 14-tail propeller group; 141-first propeller; 142-third propeller; 20-photovoltaic panel. DETAILED DESCRIPTION

[0052] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0053] like Figure 1-4 As shown, the photovoltaic cleaning robot of this embodiment includes a robot body 10, and the robot body 10 is provided with a cleaning system 11, a moving system 12 and a control system. Specifically, the cleaning system 11 includes components such as a roller brush, a nozzle and a water tank. The moving system 12 includes a driving motor, and if it is a tracked robot, it also includes tracks and driving wheels; if it is a wheeled robot, it also includes wheels, etc. The photovoltaic cleaning robot of this embodiment adopts a tracked robot. The control system includes a microcontroller unit MCU and various sensors and encoders, etc. The rotation of the track or wheel provides traction for the robot. According to the principle of mechanics, the maximum value of the traction is the maximum static friction of the driving wheel or track, also called the maximum adhesion, and the maximum static friction is proportional to the pressure acting vertically on the photovoltaic panel. When the pressure or friction coefficient decreases, the static friction or adhesion decreases, and the robot is prone to slipping.

[0054] like Figure 1 As shown, photovoltaic panel arrays are generally distributed in a rectangular shape. When the robot is moving and cleaning, it can be roughly divided into three driving states according to the planned cleaning path, namely longitudinal driving, lateral driving and turning. Different driving states result in different forces.

[0055] like Figure 2 As shown in the figure, during the longitudinal driving process, if the photovoltaic cleaning robot drives on the inclined photovoltaic panel 20, the gravity G generated by the load and self-weight of the photovoltaic cleaning robot will be decomposed into the pressure F1 (F1 = G*cosα) acting vertically on the photovoltaic panel and the resistance F2 (F2 = G*sinα) parallel to the photovoltaic panel. Obviously, as the installation inclination angle α of the photovoltaic panel 20 increases, F1 will decrease and F2 will increase. 牵 ≤u 1 *F1(u 1is the static friction coefficient in the driving direction, which is also the maximum adhesion coefficient and is less than 1). Without considering other resistances, the robot needs at least F when climbing the inclined photovoltaic panel 20. 牵 ≥F2, and the traction force is u 1 *F1 limit, when the traction required for driving exceeds u 1 * In F1, the robot will slip or spin.

[0056] like Figure 3 As shown in the figure, during lateral driving, if the photovoltaic cleaning robot drives on an inclined photovoltaic panel, the gravity G generated by the cleaning robot's load and self-weight will be decomposed into a pressure F1 (F1 = G*cosα) acting vertically on the photovoltaic panel and a sliding force F2 (F2 = G*sinα) parallel to the photovoltaic panel. As the photovoltaic panel installation inclination angle α increases, F1 will decrease and F2 will increase. In order to overcome the sliding force F2, the lateral friction force F of the track or wheel is required. 侧摩擦力 ≥F2, due to F 侧摩擦力 =u 2 *F1(u 2 is the lateral static friction coefficient), increasing F1 will increase F 侧摩擦力 Similarly, the robot's traction force F 牵 ≤u 1 *F1(u 1 is the static friction coefficient in the driving direction, which is also the maximum adhesion coefficient, less than 1), that is, the traction force is affected by u 1 *F1 limit, when the traction required for driving exceeds u 1 * In F1, the robot will slip or spin.

[0057] At the same time, the robot has two sets of left and right tracks or two sets of left and right wheels. When the friction coefficients of the left and right tracks or wheels differ greatly, side slipping or spinning will occur.

[0058] The roller brush is a part of the photovoltaic cleaning robot that is used to directly contact and remove dust, dirt and other impurities on the surface of the photovoltaic panel. It generally rolls up the dust and debris on the photovoltaic panel and throws them off the panel surface by rotating, or wipes off stubborn stains by the friction of the bristles. Therefore, to achieve a good cleaning effect, there must be a certain pressure between the robot and the photovoltaic panel so that the roller brush has enough friction. When the robot is driving on an inclined photovoltaic panel, the pressure F1 acting vertically on the photovoltaic panel decreases as the inclination angle increases, which will also affect the cleaning effect, especially the cleaning effect of stubborn stains.

[0059] In summary, when the photovoltaic cleaning robot travels on the inclined photovoltaic panel surface, the vertical pressure on the photovoltaic panel is reduced, resulting in reduced friction or adhesion, which can easily cause the robot to slip and slide sideways, and reduce the cleaning effect. In order to solve the problem of slipping or sliding sideways when the robot travels on a photovoltaic panel with a large slope and insufficient cleaning pressure, and to achieve automatic control at the same time, in the photovoltaic cleaning robot of this embodiment, a top propeller group 13 and a tail propeller group 14 are respectively provided on the top surface and the rear side surface of the robot body 10. Specifically, the top propeller group 13 is used to provide pressure perpendicular to the photovoltaic panel to the robot body 10; the tail propeller group 14 includes at least two pairs of first propellers 141 respectively located on both sides of the rear side surface of the robot body. In this way, the top propeller group 13 can be used to provide auxiliary pressure to the robot body 10 to increase the friction between the robot and the photovoltaic panel, thereby enhancing the robot's climbing ability. The tail propeller group 14 can provide thrust when the robot moves longitudinally upward to climb a slope, and provide resistance when the robot moves longitudinally downward to descend, so as to assist the robot to move longitudinally on the inclined photovoltaic panel; at the same time, when the robot is in a slipping or side-slipping state, the steering and rotation speed difference of the two first spiral swords 141 can be controlled separately to make the robot out of the slipping state; when the robot is in a turning moving state, the steering and rotation speed difference of the two first spiral swords 141 can also be controlled separately to assist the robot in turning.

[0060] Specifically, in order to achieve automatic control, the control system of this embodiment includes a microcontroller unit MCU and a slip detection module, an operation status detection module, and a propeller control module respectively connected to the microcontroller unit. The slip detection module of this embodiment includes an inertial measurement unit IMU and a wheel odometer. Specifically, the inertial measurement unit IMU is used to measure the robot's operation data including heading angle, roll angle, pitch angle, linear speed, angular velocity and displacement in real time and obtain the robot's tilt angle. The wheel odometer is used to measure the robot's operation data including speed and displacement in real time. The slip detection module combines the robot's operation data measured by the inertial measurement unit IMU and the wheel odometer to determine whether the robot is in a slip state of slipping and sideslipping.

[0061] Compare the data recorded by the wheel odometer or the robot speed and displacement calculated according to the rotation speed of the driving wheel with the data measured by the inertial measurement unit IMU. When the difference between them is greater than the set threshold, the robot is judged to be in a slipping state. For non-tracked robots, it is also possible to judge whether the robot is in a slipping state based on the speed difference between the driving wheel and the driven wheel. Specifically, in this embodiment, the method for the slip detection module to judge whether the robot is in a slipping state is: if the deviation between the displacement measured by the inertial measurement unit IMU and the displacement measured by the wheel odometer is greater than the set displacement threshold, or, if the deviation between the speed measured by the inertial measurement unit IMU and the speed measured by the wheel odometer is greater than the set speed threshold, or, if the robot is a non-tracked robot and the speed difference between the driving wheel and the driven wheel of the robot is greater than the set speed threshold; then the robot is judged to be in a slipping state.

[0062]

[0063] The method for judging sideslip mainly relies on the deviation of the robot's heading. The real-time heading measured by the inertial measurement unit IMU can be compared with the direction of the planned robot cleaning path, or the real-time heading can be compared with the average heading of the first T seconds at the beginning of the path. When the yaw exceeds a certain threshold, the robot is considered to have sideslip. Generally speaking, when the robot control system finds that the robot is sideslipping, it will first correct the heading by adjusting the speed difference of the driving wheels on both sides, but sometimes it will not work, such as when the current friction coefficients of the left and right driving wheels (or crawlers) are greatly different or the robot slips. When the heading cannot be corrected by adjusting the speed of the driving wheels, the propeller control module can be used to control the tail propeller group for correction. Specifically, in this embodiment, the method for the slip detection module to judge that the robot is in a sideslip state is: if the deviation between the real-time heading measured by the inertial measurement unit and the planned cleaning path direction is greater than the set first heading angle threshold; or, if the deviation between the real-time heading measured by the inertial measurement unit and the average heading from the beginning of the cleaning path to the time t is greater than the set second heading angle threshold; then the robot is judged to be in a sideslip state.

[0064]

[0065] In this embodiment, the value of T is 30 seconds. Of course, in other embodiments, T can be set according to the actual application scenario, which will not be repeated here.

[0066] In this embodiment, the operation status detection module determines the movement status of the robot based on the robot operation data measured by the inertial measurement unit and the wheel odometer or based on the planned cleaning path combined with the real-time positioning of the robot, and the movement status includes lateral movement, longitudinal movement and turning.

[0067] When the robot moves longitudinally, laterally, and turns, the anti-skid system has different processing solutions, so it is necessary to detect the real-time driving state of the robot. If the cleaning robot has path planning function and real-time positioning function, the driving state of the robot can be judged by the real-time position of the robot in the cleaning path. When these functions are not available or unavailable, the state of the robot can also be judged by the pitch angle, roll angle, heading and other data measured by the inertial measurement unit IMU, as well as the speed difference between the left and right driving wheels. Specifically, in this embodiment, the method for the running state detection module to judge the moving state of the robot is: when the roll angle measured by the inertial measurement unit is greater than the pitch angle, and the difference between the roll angle and the pitch angle is greater than the set first angle threshold, the robot is judged to be in a state of lateral movement; when the pitch angle measured by the inertial measurement unit is greater than the roll angle, and the difference between the pitch angle and the roll angle is greater than the set second angle threshold, the robot is judged to be in a state of longitudinal movement; when the speed difference of the driving wheels on both sides of the robot body measured by the inertial measurement unit or the wheel odometer is greater than the set speed threshold, the robot is judged to be in a state of turning.

[0068]

[0069] Specifically, the first angle threshold and the second angle threshold may be equal or unequal, which will not be described in detail.

[0070] The propeller control module of this embodiment controls the top propeller group and the tail propeller group to run at a set speed and direction according to the movement state, sliding state and tilt angle of the robot, specifically including:

[0071] When the running status detection module determines that the robot is in a moving state of moving vertically upward:

[0072] If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at the set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the speed of forward rotation until the forward rotation speed of the top propeller group reaches the set second speed, at which time the additional pressure provided by the top propeller reaches the maximum value, and if the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate forward and provide thrust. Specifically, the second speed is greater than the first speed, and the second speed can be a set speed value lower than the maximum speed of the top propeller group, or it can be the maximum speed of the top propeller group.

[0073] If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference between the two first propellers to correct the heading.

[0074] When the running status detection module determines that the robot is in a moving state of moving vertically downward:

[0075] If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at a set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the forward rotation speed until the forward rotation speed of the top propeller group reaches the set second speed. If the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate in the opposite direction and provide resistance. Specifically, the second speed is greater than the first speed, and the second speed can be a set speed value lower than the maximum speed of the top propeller group, or it can be the maximum speed of the top propeller group.

[0076] If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference between the two first propellers to correct the heading.

[0077] When the running status detection module determines that the robot is in a lateral moving state:

[0078] If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at the set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the speed of forward rotation until the forward rotation speed of the top propeller group reaches the set second speed, at which time the additional pressure provided by the top propeller reaches the maximum value, and if the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate forward and provide thrust. Specifically, the second speed is greater than the first speed, and the second speed can be a set speed value lower than the maximum speed of the top propeller group, or it can be the maximum speed of the top propeller group.

[0079] If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference between the two first propellers to correct the heading.

[0080] When the running state detection module determines that the robot is in a turning moving state, the propeller control module adjusts the rotation speed difference between the two first propellers to assist the turning.

[0081] In this embodiment, the inertial measurement unit IMU is used to measure the robot's operating data including heading angle, roll angle, pitch angle, linear velocity, angular velocity and displacement in real time and obtain the robot's tilt angle, and if the robot's tilt angle is greater than or equal to a set threshold, the propeller control module controls the top propeller group to rotate and provides auxiliary pressure; the size of the auxiliary pressure satisfies:

[0082]

[0083] Where: F is the auxiliary pressure provided by the top propeller group; M is the weight of the robot body; α 0 is the slope threshold, i.e. the maximum allowable climbing slope of the robot; β is the actual slope value, and β≥α 0 .

[0084] In a preferred implementation of this embodiment, the control system further includes a remote control module, which is used to receive remote control signals to achieve remote control, that is, to facilitate the operator to remotely control the robot.

[0085] In a preferred implementation of this embodiment, the top propeller group 13 is arranged at the center of the robot body, and the top propeller group includes at least one pair of second propellers 131. Specifically, the top propeller group of this embodiment includes four pairs of second propellers 131. Figure 4 In a preferred embodiment of this embodiment, the tail propeller group 14 further includes at least one third propeller 142 located between the two first propellers 141. In this embodiment, there is one third propeller 142, and the third propeller 142 is arranged at the center of the rear side of the robot, as shown in FIG. Figure 4 shown.

[0086] In conjunction with the photovoltaic cleaning robot described above in this embodiment, a specific implementation method of a method for improving the photovoltaic cleaning robot's climbing ability and preventing it from slipping and side sliding will be described below.

[0087] The method of improving the climbing ability of the photovoltaic cleaning robot and preventing skidding and side sliding of the photovoltaic cleaning robot in this embodiment adopts the photovoltaic cleaning robot as described above, and the method is as follows: placing the cleaning robot on the photovoltaic panel to be cleaned, starting the photovoltaic robot to move along the photovoltaic panel according to the planned cleaning path and performing cleaning operations on the photovoltaic panel. During the cleaning operation of the photovoltaic cleaning robot:

[0088] The inertial measurement unit is used to measure the robot's operating data including heading angle, roll angle, pitch angle, linear velocity, angular velocity and displacement in real time and obtain the robot's tilt angle. The wheel odometer is used to measure the robot's operating data including speed and displacement in real time.

[0089] The slip detection module combines the robot operation data measured by the inertial measurement unit and the wheel odometer to determine whether the robot is in a slip state such as skidding and side sliding;

[0090] The running state detection module determines the robot's movement state based on the robot's running data measured by the inertial measurement unit and the wheel odometer or based on the planned cleaning path combined with the robot's real-time positioning. The movement state includes lateral movement, longitudinal movement and steering.

[0091] The propeller control module controls the top propeller group and the tail propeller group to run at the set speed and direction according to the robot's movement state, sliding state and tilt angle, and:

[0092] When the running status detection module determines that the robot is in a moving state of moving vertically upward:

[0093] If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at the set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the speed of forward rotation until the forward rotation speed of the top propeller group reaches the set second speed, at which time the additional pressure provided by the top propeller reaches the maximum value, and if the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate forward and provide thrust. Specifically, the second speed is greater than the first speed, and the second speed can be a set speed value lower than the maximum speed of the top propeller group, or it can be the maximum speed of the top propeller group.

[0094] If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference between the two first propellers to correct the heading.

[0095] When the running status detection module determines that the robot is in a moving state of moving vertically downward:

[0096] If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at a set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the forward rotation speed until the forward rotation speed of the top propeller group reaches the set second speed. If the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate in the opposite direction and provide resistance. Specifically, the second speed is greater than the first speed, and the second speed can be a set speed value lower than the maximum speed of the top propeller group, or it can be the maximum speed of the top propeller group.

[0097] If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference between the two first propellers to correct the heading.

[0098] When the running status detection module determines that the robot is in a lateral moving state:

[0099] If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at the set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the speed of forward rotation until the forward rotation speed of the top propeller group reaches the set second speed, at which time the additional pressure provided by the top propeller reaches the maximum value, and if the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate forward and provide thrust. Specifically, the second speed is greater than the first speed, and the second speed can be a set speed value lower than the maximum speed of the top propeller group, or it can be the maximum speed of the top propeller group.

[0100] If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference between the two first propellers to correct the heading.

[0101] When the running state detection module determines that the robot is in a turning moving state, the propeller control module adjusts the rotation speed difference between the two first propellers to assist the turning.

[0102] Compare the data recorded by the wheel odometer or the robot speed and displacement calculated according to the rotation speed of the driving wheel with the data measured by the inertial measurement unit IMU. When the difference between them is greater than the set threshold, the robot is judged to be in a slipping state. For non-tracked robots, it is also possible to judge whether the robot is in a slipping state based on the speed difference between the driving wheel and the driven wheel. Specifically, in this embodiment, the method for the slip detection module to judge whether the robot is in a slipping state is: if the deviation between the displacement measured by the inertial measurement unit IMU and the displacement measured by the wheel odometer is greater than the set displacement threshold, or, if the deviation between the speed measured by the inertial measurement unit IMU and the speed measured by the wheel odometer is greater than the set speed threshold, or, if the robot is a non-tracked robot and the speed difference between the driving wheel and the driven wheel of the robot is greater than the set speed threshold; then the robot is judged to be in a slipping state.

[0103]

[0104] The method for judging sideslip mainly relies on the deviation of the robot's heading. The real-time heading measured by the inertial measurement unit IMU can be compared with the direction of the planned robot cleaning path, or the real-time heading can be compared with the average heading of the first T seconds at the beginning of the path. When the yaw exceeds a certain threshold, the robot is considered to have sideslip. Generally speaking, when the robot control system finds that the robot is sideslipping, it will first correct the heading by adjusting the speed difference of the driving wheels on both sides, but sometimes it will not work, such as when the current friction coefficients of the left and right driving wheels (or crawlers) are greatly different or the robot slips. When the heading cannot be corrected by adjusting the speed of the driving wheels, the propeller control module can be used to control the tail propeller group for correction. Specifically, in this embodiment, the method for the slip detection module to judge that the robot is in a sideslip state is: if the deviation between the real-time heading measured by the inertial measurement unit and the planned cleaning path direction is greater than the set first heading angle threshold; or, if the deviation between the real-time heading measured by the inertial measurement unit and the average heading from the beginning of the cleaning path to the time t is greater than the set second heading angle threshold; then the robot is judged to be in a sideslip state.

[0105]

[0106] In this embodiment, the value of T is 30 seconds. Of course, in other embodiments, T can be set according to the actual application scenario, which will not be repeated here.

[0107] In this embodiment, the operation status detection module determines the movement status of the robot based on the robot operation data measured by the inertial measurement unit and the wheel odometer or based on the planned cleaning path combined with the real-time positioning of the robot, and the movement status includes lateral movement, longitudinal movement and turning.

[0108] When the robot moves longitudinally, laterally, and turns, the anti-skid system has different processing solutions, so it is necessary to detect the real-time driving state of the robot. If the cleaning robot has path planning function and real-time positioning function, the driving state of the robot can be judged by the real-time position of the robot in the cleaning path. When these functions are not available or unavailable, the state of the robot can also be judged by the pitch angle, roll angle, heading and other data measured by the inertial measurement unit IMU, as well as the speed difference between the left and right driving wheels. Specifically, in this embodiment, the method for the running state detection module to judge the moving state of the robot is: when the roll angle measured by the inertial measurement unit is greater than the pitch angle, and the difference between the roll angle and the pitch angle is greater than the set first angle threshold, the robot is judged to be in a state of lateral movement; when the pitch angle measured by the inertial measurement unit is greater than the roll angle, and the difference between the pitch angle and the roll angle is greater than the set second angle threshold, the robot is judged to be in a state of longitudinal movement; when the speed difference of the driving wheels on both sides of the robot body measured by the inertial measurement unit or the wheel odometer is greater than the set speed threshold, the robot is judged to be in a state of turning.

[0109]

[0110] Specifically, the first angle threshold and the second angle threshold may be equal or unequal, which will not be described in detail.

[0111] In this embodiment, the inertial measurement unit IMU is used to measure the robot's operating data including heading angle, roll angle, pitch angle, linear velocity, angular velocity and displacement in real time and obtain the robot's tilt angle, and if the robot's tilt angle is greater than or equal to a set threshold, the propeller control module controls the top propeller group to rotate and provides auxiliary pressure; the size of the auxiliary pressure satisfies:

[0112]

[0113] Where: F is the auxiliary pressure provided by the top propeller group; M is the weight of the robot body; α 0 is the slope threshold, i.e. the maximum allowable climbing slope of the robot; β is the actual slope value, and β≥α 0 .

[0114] The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art based on the present invention are within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A photovoltaic cleaning robot, comprising a robot body, wherein the robot body is provided with a cleaning system, a moving system and a control system; characterized in that: A top propeller group and a tail propeller group are respectively provided on the top surface and the rear side surface of the robot body; the top propeller group is used to provide pressure perpendicular to the photovoltaic panel to the robot body; the tail propeller group includes at least two pairs of first propellers respectively located on both sides of the rear side surface of the robot body; The control system includes a micro control unit and a slip detection module, an operation status detection module, and a propeller control module respectively connected to the micro control unit; The slip detection module includes an inertial measurement unit and a wheel odometer. The inertial measurement unit is used to measure the robot's operating data including heading angle, roll angle, pitch angle, linear velocity, angular velocity and displacement in real time and obtain the robot's tilt angle. The wheel odometer is used to measure the robot's operating data including speed and displacement in real time. The slip detection module determines whether the robot is in a slip state of skidding and side sliding by combining the robot's operating data measured by the inertial measurement unit and the wheel odometer. The operation state detection module determines the movement state of the robot according to the robot operation data measured by the inertial measurement unit and the wheel odometer or according to the planned cleaning path combined with the real-time positioning of the robot, and the movement state includes lateral movement, longitudinal movement and turning; The propeller control module controls the top propeller group and the tail propeller group to operate at a set speed and direction according to the movement state, sliding state and tilt angle of the robot.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The method for the operation status detection module to judge the movement status of the robot is: when the roll angle measured by the inertial measurement unit is greater than the pitch angle, and the difference between the roll angle and the pitch angle is greater than the set first angle threshold, the robot is judged to be in a lateral movement state; when the pitch angle measured by the inertial measurement unit is greater than the roll angle, and the difference between the pitch angle and the roll angle is greater than the set second angle threshold, the robot is judged to be in a longitudinal movement state; when the speed difference of the driving wheels on both sides of the robot body measured by the inertial measurement unit or the wheel odometer is greater than the set speed threshold, the robot is judged to be in a turning movement state.

3. The photovoltaic cleaning robot according to claim 1, characterized in that: The method by which the slip detection module determines that the robot is in a slipping state is: if the deviation between the displacement measured by the inertial measurement unit and the displacement measured by the wheel odometer is greater than a set displacement threshold, or, if the deviation between the speed measured by the inertial measurement unit and the speed measured by the wheel odometer is greater than a set speed threshold, or, if the robot is a non-tracked robot and the speed difference between the driving wheel and the driven wheel of the robot is greater than a set speed threshold; then it is determined that the robot is in a slipping state.

4. The photovoltaic cleaning robot according to claim 1, characterized in that: The method for the slip detection module to determine whether the robot is in a side-slip state is: if the deviation between the real-time heading measured by the inertial measurement unit and the planned cleaning path direction is greater than the set first heading angle threshold; or if the deviation between the real-time heading measured by the inertial measurement unit and the average heading from the starting time to time t of the cleaning path is greater than the set second heading angle threshold; then the robot is judged to be in a side-slip state.

5. The photovoltaic cleaning robot according to claim 1, characterized in that: If the tilt angle of the robot is greater than or equal to the set threshold, the propeller control module controls the top propeller group to rotate and provides auxiliary pressure; the magnitude of the auxiliary pressure satisfies: Where: F is the auxiliary pressure provided by the top propeller group; M is the weight of the robot body; α0 is the slope threshold; β is the actual slope value, and β≥α0.

6. The photovoltaic cleaning robot according to claim 1, characterized in that: The control system further comprises a remote control module, and the remote control module is used to receive a remote control signal to implement remote control.

7. The photovoltaic cleaning robot according to claim 1, characterized in that: The top propeller group is arranged at the center of the robot body, and the top propeller group includes at least one pair of second propellers; the tail propeller group also includes at least one third propeller located between the two first propellers.

8. A method for improving the climbing ability of a photovoltaic cleaning robot and preventing it from slipping and sliding, characterized in that: The photovoltaic cleaning robot adopts the photovoltaic cleaning robot as described in any one of claims 1 to 7, and the method is: placing the cleaning robot on the photovoltaic panel to be cleaned, starting the photovoltaic robot to move along the photovoltaic panel according to the planned cleaning path and perform cleaning operations on the photovoltaic panel; during the photovoltaic cleaning robot performing the cleaning operation: The inertial measurement unit is used to measure the robot's operating data including heading angle, roll angle, pitch angle, linear velocity, angular velocity and displacement in real time and obtain the robot's tilt angle. The wheel odometer is used to measure the robot's operating data including speed and displacement in real time. The slip detection module determines whether the robot is in a slipping and sideslipping state by combining the robot operation data measured by the inertial measurement unit and the wheel odometer; The operation state detection module determines the movement state of the robot according to the robot operation data measured by the inertial measurement unit and the wheel odometer or according to the planned cleaning path combined with the real-time positioning of the robot, and the movement state includes lateral movement, longitudinal movement and turning; The propeller control module controls the top propeller group and the tail propeller group to operate at a set speed and direction according to the movement state, sliding state and tilt angle of the robot, and: When the running status detection module determines that the robot is in a moving state of moving vertically upward: If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at a set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the forward rotation speed until the forward rotation speed of the top propeller group reaches a set second speed, and if the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate forward and provide thrust; If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference of the two first propellers to correct the heading; When the running status detection module determines that the robot is in a moving state of moving vertically downward: If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at a set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the forward rotation speed until the forward rotation speed of the top propeller group reaches a set second speed, and if the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate in the opposite direction and provide resistance; If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference between the two first propellers to correct the heading; When the running status detection module determines that the robot is in a lateral moving state: If the slip detection module determines that the robot is in a slipping state, the propeller control module controls the top propeller group to rotate forward at a set first speed to provide additional pressure; if the robot is still in a slipping state, the propeller control module controls the top propeller group to increase the forward rotation speed until the forward rotation speed of the top propeller group reaches a set second speed, and if the robot is still in a slipping state, the propeller control module controls the tail propeller group to rotate forward and provide thrust; If the slip detection module determines that the robot is in a side-slip state, the propeller control module adjusts the speed difference between the two first propellers to correct the heading; When the running state detection module determines that the robot is in a turning moving state, the propeller control module adjusts the speed difference between the two first propellers to assist in turning.

9. The method for improving the climbing ability and preventing skidding and side sliding of a photovoltaic cleaning robot according to claim 8, characterized in that: The method for the operation status detection module to judge the movement status of the robot is as follows: when the roll angle measured by the inertial measurement unit is greater than the pitch angle, and the difference between the roll angle and the pitch angle is greater than the set first angle threshold, the robot is judged to be in a lateral movement state; when the pitch angle measured by the inertial measurement unit is greater than the roll angle, and the difference between the pitch angle and the roll angle is greater than the set second angle threshold, the robot is judged to be in a longitudinal movement state; when the speed difference of the driving wheels on both sides of the robot body measured by the inertial measurement unit or the wheel odometer is greater than the set speed threshold, the robot is judged to be in a turning movement state; The method for the slip detection module to determine whether the robot is in a slipping state is as follows: if the deviation between the displacement measured by the inertial measurement unit and the displacement measured by the wheel odometer is greater than a set displacement threshold, or, if the deviation between the speed measured by the inertial measurement unit and the speed measured by the wheel odometer is greater than a set speed threshold, or, if the robot is a non-tracked robot and the speed difference between the driving wheel and the driven wheel of the robot is greater than a set speed threshold; then the robot is determined to be in a slipping state; The method for the slip detection module to determine whether the robot is in a side-slip state is: if the deviation between the real-time heading measured by the inertial measurement unit and the planned cleaning path direction is greater than the set first heading angle threshold; or if the deviation between the real-time heading measured by the inertial measurement unit and the average heading from the starting time to time t of the cleaning path is greater than the set second heading angle threshold; then the robot is judged to be in a side-slip state.

10. The method for improving the climbing ability and preventing skidding and side sliding of a photovoltaic cleaning robot according to claim 8, characterized in that: If the tilt angle of the robot is greater than or equal to the set threshold, the propeller control module controls the top propeller group to rotate and provides auxiliary pressure; the magnitude of the auxiliary pressure satisfies: Where: F is the auxiliary pressure provided by the top propeller group; M is the weight of the robot body; α0 is the slope threshold; β is the actual slope value, and β≥α0.

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