Anti-falling system and method for photovoltaic panel cleaning robot

Abstract

The invention discloses an anti-falling system and method for a photovoltaic panel cleaning robot, and belongs to the technical field of photovoltaic cleaning, and the system comprises a sensing monitoring module which is used for collecting a distance signal through a distance measuring sensor disposed on the photovoltaic panel cleaning robot; the hysteresis comparison module is used for carrying out hysteresis comparison on the distance signal according to the distance signal upper threshold value and the distance signal lower threshold value, defining a hysteresis region and generating an edge state signal of the distance measuring sensor; and the anti-falling module is used for controlling the photovoltaic panel cleaning robot to execute an edge detection anti-falling task based on the edge state signal of the distance measuring sensor according to the anti-falling method. The photovoltaic panel cleaning robot solves the problem that the photovoltaic panel cleaning robot is prone to falling on the edge of a photovoltaic panel.

Description

Technical Field

[0001] The present invention belongs to the technical field of photovoltaic cleaning, and in particular relates to an anti-falling system and method for a photovoltaic panel cleaning robot. Background Art

[0002] As a clean and renewable energy, solar energy has gradually become an important part of the global energy structure optimization due to its abundant resources and good environmental benefits. Therefore, photovoltaic power generation technology has been widely used, especially in renewable energy power generation systems. The efficiency of photovoltaic power generation is often affected by many factors, among which the accumulation of dirt on the surface of photovoltaic panels is one of the most important factors. At present, large-scale photovoltaic power stations are generally deployed in arid and rainy areas. A large amount of dust in the air will accumulate on the surface of photovoltaic modules over time, which will significantly affect the energy conversion of photovoltaic power stations, and then affect the power generation efficiency and economic benefits of the entire photovoltaic system. For the cleaning of large photovoltaic modules, manual cleaning is still the main method. Manual cleaning of photovoltaic panels is not only inefficient and costly, but also may cause irreversible damage to the surface of photovoltaic panels if not operated properly.

[0003] Using photovoltaic panel cleaning robots for cleaning can improve cleaning efficiency. With the vigorous development of the photovoltaic cleaning industry, photovoltaic panel cleaning robots are usually equipped with precision sensors, actuators and electronic components, which are easily damaged when they fall. In order to ensure the stability and cleaning efficiency of photovoltaic panel cleaning robots, more and more portable photovoltaic panel cleaning robots have begun to try different adsorption technologies to ensure that they can firmly adhere to the smooth surface of photovoltaic panels and efficiently complete cleaning tasks. However, the existing anti-fall technology of cleaning robots still cannot avoid the risk of falling when the robot is working in special areas such as the edge of the working area, and cannot fully guarantee the cleaning effect of the edge of the photovoltaic panel. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a photovoltaic panel cleaning robot anti-falling system and method, which solves the problem that the photovoltaic panel cleaning robot is prone to falling at the edge of the photovoltaic panel.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] On the one hand, the present invention provides an anti-fall system for a photovoltaic panel cleaning robot, comprising a sensor monitoring module, which is used to collect a distance signal through a distance measuring sensor provided on the photovoltaic panel cleaning robot;

[0007] A hysteresis comparison module is used to perform hysteresis comparison on the distance signal according to the upper threshold of the distance signal and the lower threshold of the distance signal, define a hysteresis loop area, and generate an edge state signal of the distance measuring sensor;

[0008] The anti-fall module is used to control the photovoltaic panel cleaning robot to perform edge detection and anti-fall tasks based on the edge state signal of the ranging sensor according to the anti-fall method.

[0009] Furthermore, the distance measuring sensors on the photovoltaic panel cleaning robot include a left front sensor, a right front sensor, a left rear sensor, a right rear sensor, a front sensor and a rear sensor.

[0010] Furthermore, the hysteresis comparison module includes:

[0011] A threshold definition submodule is used to define an upper threshold of a distance signal and a lower threshold of a distance signal;

[0012] The edge judgment submodule is used to compare the size relationship between the distance signal and the upper threshold of the distance signal and the lower threshold of the distance signal to obtain the edge detection result of the distance measuring sensor, wherein, if the distance signal is greater than the upper threshold of the distance signal, the edge detection result is that a valid edge is detected; if the distance signal is less than the lower threshold of the distance signal, the edge detection result is that no edge is detected; if the distance signal is less than the upper threshold of the distance signal and greater than the lower threshold of the distance signal, the edge detection result is edge detection noise fluctuation;

[0013] In this solution, the distance signal does not represent the distance value. A large distance signal represents a short distance, that is, the intensity of the photovoltaic panel reflected signal is large, and a small distance signal represents a long distance, that is, the intensity of the photovoltaic panel reflected signal is small. For example, an infrared distance sensor is used.

[0014] In this solution, the distance between the front sensor and the line connecting the left front sensor and the right front sensor is greater than the gap between the solar photovoltaic panels, and the distance between the rear sensor and the line connecting the left rear sensor and the right rear sensor is greater than the gap between the solar photovoltaic panels.

[0015] The hysteresis region submodule is used to define the hysteresis region of the quantized edge detection noise fluctuations;

[0016] The edge detection submodule is used to generate an edge state signal of the distance sensor based on the edge detection result and the hysteresis area, wherein the edge state signal corresponds to a state of being inside the solar photovoltaic panel or a state of being outside the solar photovoltaic panel.

[0017] Furthermore, the anti-fall module comprises:

[0018] The task start submodule is used to start the photovoltaic panel cleaning robot and make the photovoltaic panel cleaning robot detect and find the edge of the photovoltaic panel;

[0019] The instruction definition submodule is used to define the action instructions of the photovoltaic panel cleaning robot, wherein the action instructions include forward instruction, backward instruction, left turn instruction and right turn instruction;

[0020] The instruction generation submodule is used to generate corresponding photovoltaic panel cleaning robot action instructions according to the edge state signal of the ranging sensor;

[0021] The instruction execution submodule is used to control the motor movement of the photovoltaic panel cleaning robot according to the action instruction of the photovoltaic panel cleaning robot, so that the photovoltaic panel cleaning robot performs a forward action, a backward action, a left turn action or a right turn action;

[0022] The anti-fall submodule is used to control the photovoltaic panel cleaning robot to perform the edge detection task when detecting and searching for the edge of the photovoltaic panel based on the edge state signal of the ranging sensor according to the anti-fall method.

[0023] On the other hand, based on the anti-fall system of the photovoltaic panel cleaning robot, the present invention provides an anti-fall method for performing edge detection and falling tasks based on the anti-fall system of the photovoltaic panel cleaning robot; the anti-fall method comprises the following steps:

[0024] A1. Obtain the edge status signal of the ranging sensor;

[0025] A2, determine whether the retreat condition is met according to the edge state signal of the ranging sensor, if so, generate a retreat instruction and transmit it to the message queue, enter A7, otherwise enter A3;

[0026] A3, judging whether the forward condition is met according to the edge state signal of the ranging sensor, if so, generating a forward instruction and transmitting it to the message queue, entering A7, otherwise entering A4;

[0027] A4, judging whether the conditions for advancing across the seam are met according to the edge state signal of the distance measuring sensor, if so, generating an advance instruction and transmitting it to the message queue, entering A7, otherwise entering A5;

[0028] A5. Determine whether the right turn condition is met according to the edge state signal of the ranging sensor. If so, generate a right turn instruction and transmit it to the message queue to enter A7. Otherwise, enter A6.

[0029] A6, determine whether the left turn condition is met according to the edge state signal of the ranging sensor, if so, generate a left turn instruction and transmit it to the message queue, enter A7, otherwise enter A8;

[0030] A7. According to the action instructions in the message queue, the motor movement of the photovoltaic panel cleaning robot is controlled so that the photovoltaic panel cleaning robot performs the corresponding action;

[0031] A8. Repeat A1-A7 until the photovoltaic panel cleaning robot completes the planned complete cleaning path and completes the edge detection and anti-falling task.

[0032] Furthermore, the retreat condition is that the edge state signals of the front sensor, the left front sensor and the right front sensor all correspond to being outside the solar photovoltaic panel;

[0033] The forward condition is that the edge state signals of the front sensor, the left front sensor, and the right front sensor all correspond to the state inside the solar photovoltaic panel, or the edge state signals of the left front sensor, the right front sensor, the left rear sensor, and the right rear sensor all correspond to the state inside the solar photovoltaic panel;

[0034] The cross-slit advancing condition is that the edge state signals of the left front sensor and the right front sensor correspond to the state outside the solar photovoltaic panel, while the edge state signal of the front sensor corresponds to the state inside the solar photovoltaic panel;

[0035] The right turn condition is that the edge state signals of the left front sensor and the left rear sensor both correspond to being outside the solar photovoltaic panel, or the edge state signal of the left front sensor corresponds to being inside the solar photovoltaic panel and the edge state of the right rear sensor corresponds to being outside the solar photovoltaic panel;

[0036] The left turn condition is that the edge state signals of the right front sensor and the right rear sensor both correspond to being outside the solar photovoltaic panel, or the edge state signal of the right front sensor corresponds to being inside the solar photovoltaic panel and the edge state of the left rear sensor corresponds to being outside the solar photovoltaic panel.

[0037] The beneficial effects of the present invention are as follows: the anti-fall system of a photovoltaic panel cleaning robot provided by the present invention collects distance signals in real time through a sensor monitoring module, and combines with a hysteresis comparison module to accurately analyze the distance signals while allowing the gap noise error of the photovoltaic panel. The anti-fall module can quickly respond to instructions and effectively control the photovoltaic panel cleaning robot to perform anti-fall tasks, which significantly improves the safety of the robot during operation and avoids falling accidents caused by inaccurate distance judgment or slow response; the hysteresis comparison module in the present invention effectively reduces misjudgments caused by signal fluctuations or noise interference by setting upper and lower thresholds of the distance signal and defining the hysteresis loop area, thereby enhancing the system's ability to stably judge distance changes. , so that the photovoltaic panel cleaning robot can maintain a stable operating state in a complex environment; the present invention uses precise distance measurement and anti-fall methods to enable the photovoltaic panel cleaning robot to complete the cleaning task more efficiently. When encountering an edge or a possible fall, the photovoltaic panel cleaning robot can quickly make a judgment and take corresponding measures, avoiding unnecessary pauses or repeated actions, thereby improving the overall operating efficiency; the present invention combines sensor monitoring, hysteresis comparison and anti-fall control to realize the intelligent operation of the photovoltaic panel cleaning robot. Through the collaborative work of algorithms and sensors, the photovoltaic robot can autonomously perceive the surrounding environment and make intelligent decisions based on actual conditions, thereby improving the robot's autonomous operation capability and intelligence level.

[0038] Other advantages of the present invention will be analyzed in more detail in subsequent embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 4 is a block diagram of a fall prevention system for a photovoltaic panel cleaning robot according to an embodiment of the present invention.

[0041] Figure 2 Schematic diagram of a distance measuring sensor on a photovoltaic panel cleaning robot in an embodiment of the present invention.

[0042] Among them: 1. front side sensor; 2. right front side sensor; 3. left front side sensor; 4. right rear side sensor; 5. rear side sensor; 6. left rear side sensor. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0044] like Figure 1 As shown, in one embodiment of the present invention, the present invention provides an anti-fall system for a photovoltaic panel cleaning robot, comprising:

[0045] The sensor monitoring module is used to collect the distance signal through the ranging sensor set on the photovoltaic panel cleaning robot; in this solution, the distance signal is the signal corresponding to the distance measured toward the photovoltaic panel side by the ranging sensor on the photovoltaic panel cleaning robot along a fixed direction.

[0046] like Figure 2 As shown, the ranging sensors on the photovoltaic panel cleaning robot include a left front sensor 3, a right front sensor 2, a left rear sensor 6, a right rear sensor 4, a front sensor 1 and a rear sensor 5; the distance between the front sensor 1 and the line connecting the left front sensor 3 and the right front sensor 2 is greater than the gap between the solar photovoltaic panels, and the distance between the rear sensor 5 and the line connecting the left rear sensor 6 and the right rear sensor 4 is greater than the gap between the solar photovoltaic panels.

[0047] In this solution, the ranging sensors are arranged at the four top corners of the photovoltaic panel cleaning robot, at the center position of the brush head of the photovoltaic panel cleaning robot, and at the center protruding position of the tail relative to the center position of the brush head, that is, the ranging sensors are respectively the left front sensor 3, the right front sensor 2, the left rear sensor 6, the right rear sensor 4, the front sensor 1 and the rear sensor 5.

[0048] The distance between the front sensor 1 and the left front sensor 3 and the right front sensor 2 is greater than the gap between the solar photovoltaic panels. The distance between the rear sensor 5 and the left rear sensor 6 and the right rear sensor 4 is greater than the gap between the solar photovoltaic panels.

[0049] A hysteresis comparison module is used to perform hysteresis comparison on the distance signal according to the upper threshold of the distance signal and the lower threshold of the distance signal, define a hysteresis loop area, and generate an edge state signal of the distance measuring sensor;

[0050] Since the gaps between photovoltaic modules may cause fluctuations in the distance value measured by the ranging sensor, it is difficult to ensure the stable operation of the photovoltaic panel cleaning robot under gap conditions by relying solely on the distance signal provided by the ranging sensor. This solution uses a hysteresis comparison module in edge detection to enhance the robustness to noise and environmental changes, ensuring that the photovoltaic panel cleaning robot can effectively cope with cross-gap scenarios and accurately perform path planning.

[0051] The hysteresis comparison module comprises:

[0052] A threshold definition submodule is used to define an upper threshold of a distance signal and a lower threshold of a distance signal;

[0053] The calculation expressions of the upper threshold of the distance signal and the lower threshold of the distance signal are as follows:

[0054] , ,

[0055] in, Indicates the upper threshold of the distance signal. represents the mean value of the distance signal, represents the upper threshold sensitivity factor, represents the standard deviation of the distance signal, Indicates the lower threshold of the distance signal. represents the lower threshold sensitivity factor, where ;

[0056] The edge judgment submodule is used to compare the size relationship between the distance signal and the upper threshold of the distance signal and the lower threshold of the distance signal to obtain the edge detection result of the distance measuring sensor, wherein, if the distance signal is greater than the upper threshold of the distance signal, the edge detection result is that no valid edge is detected; if the distance signal is less than the lower threshold of the distance signal, the edge detection result is that the edge is detected; if the distance signal is less than the upper threshold of the distance signal and greater than the lower threshold of the distance signal, the edge detection result is edge detection noise fluctuation;

[0057] In this solution, when the distance signal strength of the sensor exceeds the upper threshold of the distance signal, it is determined that no valid edge or gap is detected; when the distance signal of the sensor is lower than the lower threshold of the distance signal, it is considered that the current edge or gap exists. When the signal is between these two thresholds, the action of the photovoltaic panel cleaning robot is kept unchanged in the previous state, thereby avoiding unnecessary actions caused by short-term fluctuations in the sensor measurement value. This solution can help the action of the photovoltaic panel cleaning robot maintain stability when the distance signal changes insignificantly through a dual threshold mechanism, thereby reducing false triggering.

[0058] The hysteresis region submodule is used to define the hysteresis region of the quantized edge detection noise fluctuations;

[0059] The calculation expression of the hysteresis region is as follows:

[0060] ,

[0061] ,

[0062] in, represents the hysteresis region, represents the initial hysteresis width, represents the distance signal at time t, Indicates belonging to, Represents the adjustment factor for the fluctuation of the distance signal, It means to find the absolute value. Indicates that it does not belong to, represents the instantaneous error of the distance signal, Indicates the average value of the ranging signal;

[0063] By setting an appropriate hysteresis area through the hysteresis area submodule to achieve hysteresis control, instantaneous changes can be effectively filtered to ensure the smooth movement of the photovoltaic panel cleaning robot when crossing the gap.

[0064] The edge detection submodule is used to generate an edge state signal of the distance sensor based on the edge detection result and the hysteresis area, wherein the edge state signal corresponds to a state of being inside the solar photovoltaic panel or a state of being outside the solar photovoltaic panel.

[0065] The calculation expression of the edge state signal is as follows:

[0066] ,

[0067] in, Indicates edge status signal, Represents the allowable error range, where When the edge state signal corresponds to the photovoltaic panel cleaning robot being located inside the solar photovoltaic panel, When , the edge detection signal corresponds to the state that the photovoltaic panel cleaning robot is located outside the solar photovoltaic panel.

[0068] The anti-fall module is used to control the photovoltaic panel cleaning robot to perform edge detection and anti-fall tasks based on the edge state signal of the ranging sensor according to the anti-fall method.

[0069] The anti-fall module comprises:

[0070] The task start submodule is used to start the photovoltaic panel cleaning robot and make the photovoltaic panel cleaning robot detect and find the edge of the photovoltaic panel;

[0071] The instruction definition submodule is used to define the action instructions of the photovoltaic panel cleaning robot, wherein the action instructions include forward instruction, backward instruction, left turn instruction and right turn instruction;

[0072] The instruction generation submodule is used to generate corresponding photovoltaic panel cleaning robot action instructions according to the edge state signal of the ranging sensor;

[0073] The instruction execution submodule is used to control the motor movement of the photovoltaic panel cleaning robot according to the action instruction of the photovoltaic panel cleaning robot, so that the photovoltaic panel cleaning robot performs a forward action, a backward action, a left turn action or a right turn action;

[0074] In the initial cleaning task stage, since the photovoltaic panel cleaning robot is not always located in the center of the photovoltaic panel, the robot may approach or exceed the edge of the photovoltaic panel when rotating to find the edge of the photovoltaic panel, which may cause a fall. Falling will not only damage the photovoltaic panel cleaning robot, but also damage the photovoltaic panel, affecting its normal use. Therefore, this solution sets an anti-fall submodule to prevent the photovoltaic panel cleaning robot from falling from the photovoltaic panel when detecting and finding the edge of the photovoltaic panel.

[0075] The anti-fall submodule is used to control the photovoltaic panel cleaning robot to perform edge detection and anti-fall tasks when detecting and searching for the edge of the photovoltaic panel based on the edge state signal of the ranging sensor according to the anti-fall method.

[0076] The present invention provides a method for preventing a photovoltaic panel cleaning robot from falling, which is used to perform edge detection and preventing falling tasks based on the anti-fall system of the photovoltaic panel cleaning robot. The anti-fall method comprises the following steps:

[0077] A1. Obtain the edge status signal of the ranging sensor;

[0078] A2, determine whether the retreat condition is met according to the edge state signal of the ranging sensor, if so, generate a retreat instruction and transmit it to the message queue, enter A7, otherwise enter A3;

[0079] The retreat condition is that the edge state signals of the front sensor 1, the left front sensor 3 and the right front sensor 2 all correspond to the state outside the solar photovoltaic panel; in this scheme, when the edge state signals of the front sensor 1, the left front sensor 3 and the right front sensor 2 all correspond to the state outside the solar photovoltaic panel, it indicates that the front side of the robot has exceeded the edge of the solar photovoltaic panel. After determining the retreat condition, a retreat command is generated to reverse the motor to prevent the robot from moving forward, wherein the reversal speed is controlled by adjusting the PWM duty cycle to ensure that the robot gradually moves away from the edge area.

[0080] A3, judging whether the forward condition is met according to the edge state signal of the ranging sensor, if so, generating a forward instruction and transmitting it to the message queue, entering A7, otherwise entering A4;

[0081] The forward condition is that the edge state signals of the front sensor 1, the left front sensor 3, and the right front sensor 2 all correspond to the state inside the solar photovoltaic panel, or the edge state signals of the left front sensor 3, the right front sensor 2, the left rear sensor 6, and the right rear sensor 4 all correspond to the state inside the solar photovoltaic panel;

[0082] A4, judging whether the conditions for advancing across the seam are met according to the edge state signal of the distance measuring sensor, if so, generating an advance instruction and transmitting it to the message queue, entering A7, otherwise entering A5;

[0083] The cross-slit advancing condition is that the edge state signals of the left front sensor 3 and the right front sensor 2 correspond to the state outside the solar photovoltaic panel, while the edge state signal of the front sensor 1 corresponds to the state inside the solar photovoltaic panel;

[0084] A5. Determine whether the right turn condition is met according to the edge state signal of the ranging sensor. If so, generate a right turn instruction and transmit it to the message queue to enter A7. Otherwise, enter A6.

[0085] The right turn condition is that the edge state signals of the left front sensor 3 and the left rear sensor 6 both correspond to being outside the solar photovoltaic panel, or the edge state signal of the left front sensor 3 corresponds to being inside the solar photovoltaic panel and the edge state of the right rear sensor 4 corresponds to being outside the solar photovoltaic panel;

[0086] A6, judging whether the left turn condition is met according to the edge state signal of the ranging sensor, if so, generating a left turn instruction and transmitting it to the message queue, entering A7, otherwise entering A8;

[0087] The left turn condition is that the edge state signals of the right front sensor 2 and the right rear sensor 4 both correspond to being located outside the solar photovoltaic panel, or the edge state signal of the right front sensor 2 corresponds to being located inside the solar photovoltaic panel and the edge state of the left rear sensor 6 corresponds to being located outside the solar photovoltaic panel;

[0088] A7. According to the action instructions in the message queue, the motor movement of the photovoltaic panel cleaning robot is controlled so that the photovoltaic panel cleaning robot performs the corresponding action;

[0089] A8. Repeat A1-A7 until the photovoltaic panel cleaning robot completes the planned complete cleaning path and completes the edge detection and anti-falling task.

[0090] In this embodiment, when the photovoltaic panel cleaning robot performs a single left turn or right turn, the rotation angle range is greater than 0° and less than 90°. Based on the setting of the rotation angle in this solution, combined with the above methods A1-A8, the photovoltaic panel cleaning robot can adapt to solar photovoltaic panels of any edge shape.

[0091] In this solution, after each action is completed, the system will not directly exit the current control logic, but will continue to obtain changes in the edge state signal of the ranging sensor. When any sensor in the ranging sensor triggers a new sensor state, it will generate corresponding action instructions according to the logic execution process, and control the motor movement of the photovoltaic panel cleaning robot through the message queue, so that the photovoltaic panel cleaning robot performs the corresponding action, thereby ensuring that the robot can continuously and stably perform the next task until the edge detection and anti-fall task is completed.

[0092] In this embodiment, based on the above scheme, the photovoltaic panel cleaning robot can record the path of the maximum outer edge of the entire photovoltaic panel in a clockwise direction after reaching the edge of the photovoltaic panel, thereby detecting and finding the complete edge of the solar photovoltaic panel. After detecting the complete edge of the solar photovoltaic panel, it can provide a basis for the photovoltaic panel cleaning robot to establish a cleaning map and prevent falling when performing the task of cleaning the photovoltaic panel.

[0093] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A photovoltaic panel cleaning robot anti-fall system, characterized in that: include: The sensor monitoring module is used to collect distance signals through a distance measuring sensor provided on the photovoltaic panel cleaning robot; A hysteresis comparison module is used to perform hysteresis comparison on the distance signal according to the upper threshold of the distance signal and the lower threshold of the distance signal, define a hysteresis loop area, and generate an edge state signal of the distance measuring sensor; The anti-fall module is used to control the photovoltaic panel cleaning robot to perform edge detection and anti-fall tasks based on the edge state signal of the ranging sensor according to the anti-fall method.

2. The anti-fall system of the photovoltaic panel cleaning robot according to claim 1, characterized in that: The ranging sensors on the photovoltaic panel cleaning robot include a left front sensor, a right front sensor, a left rear sensor, a right rear sensor, a front sensor and a rear sensor; the distance between the front sensor and the line connecting the left front sensor and the right front sensor is greater than the gap between the solar photovoltaic panels, and the distance between the rear sensor and the line connecting the left rear sensor and the right rear sensor is greater than the gap between the solar photovoltaic panels.

3. The anti-fall system of the photovoltaic panel cleaning robot according to claim 2, characterized in that: The hysteresis comparison module comprises: A threshold definition submodule is used to define an upper threshold of a distance signal and a lower threshold of a distance signal; The edge judgment submodule is used to compare the size relationship between the distance signal and the upper threshold of the distance signal and the lower threshold of the distance signal to obtain the edge detection result of the distance measuring sensor, wherein, if the distance signal is greater than the upper threshold of the distance signal, the edge detection result is that a valid edge is detected; if the distance signal is less than the lower threshold of the distance signal, the edge detection result is that no edge is detected; if the distance signal is less than the upper threshold of the distance signal and greater than the lower threshold of the distance signal, the edge detection result is edge detection noise fluctuation; The hysteresis region submodule is used to define the hysteresis region of the quantized edge detection noise fluctuations; The edge detection submodule is used to generate an edge state signal of the distance sensor based on the edge detection result and the hysteresis area, wherein the edge state signal corresponds to a state of being inside the solar photovoltaic panel or a state of being outside the solar photovoltaic panel.

4. The anti-fall system of the photovoltaic panel cleaning robot according to claim 3, characterized in that: The anti-fall module comprises: The task start submodule is used to start the photovoltaic panel cleaning robot and make the photovoltaic panel cleaning robot detect and find the edge of the photovoltaic panel; The instruction definition submodule is used to define the action instructions of the photovoltaic panel cleaning robot, wherein the action instructions include forward instruction, backward instruction, left turn instruction and right turn instruction; The instruction generation submodule is used to generate corresponding photovoltaic panel cleaning robot action instructions according to the edge state signal of the ranging sensor; The instruction execution submodule is used to control the motor movement of the photovoltaic panel cleaning robot according to the action instruction of the photovoltaic panel cleaning robot, so that the photovoltaic panel cleaning robot performs a forward action, a backward action, a left turn action or a right turn action; The anti-fall submodule is used to control the photovoltaic panel cleaning robot to perform edge detection and anti-fall tasks when detecting and searching for the edge of the photovoltaic panel based on the edge state signal of the ranging sensor according to the anti-fall method.

5. A method for preventing a photovoltaic panel cleaning robot from falling, characterized in that: The anti-fall system of the photovoltaic panel cleaning robot according to any one of claims 1 to 4 is used to perform edge detection and anti-fall tasks; the anti-fall method comprises the following steps: A1. Obtain the edge status signal of the ranging sensor; A2, determine whether the retreat condition is met according to the edge state signal of the ranging sensor, if so, generate a retreat instruction and transmit it to the message queue, enter A7, otherwise enter A3; A3, judging whether the forward condition is met according to the edge state signal of the ranging sensor, if so, generating a forward instruction and transmitting it to the message queue, entering A7, otherwise entering A4; A4, judging whether the conditions for advancing across the seam are met according to the edge state signal of the distance measuring sensor, if so, generating an advance instruction and transmitting it to the message queue, entering A7, otherwise entering A5; A5. Determine whether the right turn condition is met according to the edge state signal of the ranging sensor. If so, generate a right turn instruction and transmit it to the message queue to enter A7. Otherwise, enter A6. A6, judging whether the left turn condition is met according to the edge state signal of the ranging sensor, if so, generating a left turn instruction and transmitting it to the message queue, entering A7, otherwise entering A8; A7. According to the action instructions in the message queue, the motor movement of the photovoltaic panel cleaning robot is controlled so that the photovoltaic panel cleaning robot performs the corresponding action; A8. Repeat A1-A7 until the photovoltaic panel cleaning robot completes the planned complete cleaning path and completes the edge detection and anti-falling task.

6. The anti-falling method of the photovoltaic panel cleaning robot according to claim 5, characterized in that: The retreat condition is that the edge state signals of the front sensor, the left front sensor and the right front sensor all correspond to being outside the solar photovoltaic panel; The forward condition is that the edge state signals of the front sensor, the left front sensor, and the right front sensor all correspond to the state inside the solar photovoltaic panel, or the edge state signals of the left front sensor, the right front sensor, the left rear sensor, and the right rear sensor all correspond to the state inside the solar photovoltaic panel; The cross-slit advancing condition is that the edge state signals of the left front sensor and the right front sensor correspond to the state outside the solar photovoltaic panel, while the edge state signal of the front sensor corresponds to the state inside the solar photovoltaic panel; The right turn condition is that the edge state signals of the left front sensor and the left rear sensor both correspond to being outside the solar photovoltaic panel, or the edge state signal of the left front sensor corresponds to being inside the solar photovoltaic panel and the edge state of the right rear sensor corresponds to being outside the solar photovoltaic panel; The left turn condition is that the edge state signals of the right front sensor and the right rear sensor both correspond to being outside the solar photovoltaic panel, or the edge state signal of the right front sensor corresponds to being inside the solar photovoltaic panel and the edge state of the left rear sensor corresponds to being outside the solar photovoltaic panel.

Images