Control switching method, electronic equipment and photovoltaic panel cleaning system

Abstract

The invention relates to a control switching method, electronic equipment and a photovoltaic panel cleaning system. The method comprises the steps that when the photovoltaic panel cleaning robot is placed on a photovoltaic panel, control information is sent to the photovoltaic panel cleaning robot in response to cleaning control operation of an operator; feedback information sent by the photovoltaic panel cleaning robot is obtained, wherein the feedback information is used for indicating whether the distance between the advancing direction of the photovoltaic panel cleaning robot and the abnormal area is smaller than a preset distance or not; the abnormal area comprises a cliff and an obstacle; and when the photovoltaic panel cleaning robot operates in a constant speed mode, if the feedback information indicates that the advancing direction of the photovoltaic panel cleaning robot is abnormal, the photovoltaic panel cleaning robot is switched to an inching mode, and the speed gear flag bit of the control information is adjusted to be a 0-speed gear flag bit. Autonomous detection of the photovoltaic panel cleaning robot and control of the remote control equipment are combined, an interactive control mechanism is formed, and continuity and integrity of cleaning operation are ensured.

Description

Technical Field

[0001] This application relates to the technical field of photovoltaic panel cleaning, and particularly to a control switching method, an electronic device, and a photovoltaic panel cleaning system. Background Art

[0002] In the field of photovoltaic panel cleaning, traditional cleaning robots often have low cleaning efficiency due to changes in the cleaning environment during cleaning operations. For example, when detecting an abnormal area (cliff or obstacle), the cleaning robot will adopt a strategy of directly stopping or automatically turning through its own obstacle avoidance function. This strategy will form a cleaning blind area in the boundary area, affecting the continuity and integrity of the cleaning operation.

[0003] Therefore, there is an urgent need for a control switching method, an electronic device, and a photovoltaic panel cleaning system to solve the above technical problems. Summary of the Invention

[0004] This application provides a control switching method, an electronic device, and a photovoltaic panel cleaning system for solving the problem in related technologies that when the cleaning robot approaches the edge of the photovoltaic panel, its movement is directly stopped, affecting the continuity of the cleaning operation.

[0005] To achieve the above object, this application is implemented through the following technical solutions:

[0006] In the first aspect, this application provides a control switching method applied to a remote control device. The method includes the following steps:

[0007] S110, when the photovoltaic panel cleaning robot is placed on the photovoltaic panel, in response to the cleaning control operation of the operator, send control information to the photovoltaic panel cleaning robot; the control information is used to control the photovoltaic panel cleaning robot to operate in a jog mode or a constant speed mode, and the control information includes a frame header, a speed gear flag bit, an action key status flag bit, and a frame tail;

[0008] S120, obtain the feedback information sent by the photovoltaic panel cleaning robot, where the feedback information is used to indicate whether the distance between the traveling direction of the photovoltaic panel cleaning robot and the abnormal area is lower than a preset distance;

[0009] S130, when the photovoltaic panel cleaning robot is operating in the constant speed mode, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, switch the photovoltaic panel cleaning robot to the jog mode and adjust the speed gear flag bit of the control information to the 0-speed gear flag bit.

[0010] The beneficial effect of this technical solution is that, through real-time feedback and automatic mode switching, it can effectively prevent accidents caused by sudden environmental changes (such as cliffs, obstacles) in the fixed speed mode of the photovoltaic panel cleaning robot. Specifically, the design of forced shutdown at 0 speed gear ensures that the robot stops immediately in an emergency, reducing the risk of hardware damage. Independent encoding of flag bits (such as separation of speed gear and action button status) simplifies the command parsing logic and improves response speed. Automatically switches to inching mode in abnormal conditions, forcing the operator to intervene and avoid potential risks caused by over-reliance on automation. Through feedback information and remote control equipment working in coordination, the operator is allowed to flexibly adjust the cleaning path according to actual conditions, avoiding the cleaning blind spots formed in the boundary area by the traditional emergency stop strategy, and ensuring the continuity and integrity of the cleaning operation.

[0011] In one embodiment, after step S120, the method further comprises the steps of:

[0012] S140, when the photovoltaic panel cleaning robot is operating in the inching mode, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, shielding the action button state flag bit corresponding to the abnormal direction in the control information;

[0013] S150, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is normal, unblocking the action button status flag.

[0014] The beneficial effect of this technical solution is that compared with the related art, the inching mode completely relies on the judgment of the operator, there is no automatic protection mechanism, or the abnormal processing is mostly global shutdown or manual reset, which is inefficient. The technical solution provided by this embodiment dynamically filters instructions for specific dangerous directions instead of global shutdown, taking into account both safety and operational flexibility. Based on the environmental stability judgment of the preset time, the shielding is automatically lifted to reduce manual intervention.

[0015] In one embodiment, after step S130, the method further comprises the steps of:

[0016] S160, in response to the action button selection operation and the gear selection operation of the operator, sending new control information to the photovoltaic panel cleaning robot to control the photovoltaic panel cleaning robot to move in the direction selected by the operator in the inching mode;

[0017] S170, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, the action button status flag corresponding to the moving direction in the control information is shielded.

[0018] The beneficial effects of this technical solution are as follows: It provides two layers of defense. The first layer is to automatically switch to the jogging mode and stop to cope with sudden environmental risks. The second layer is to continuously monitor during manual operation, block the continuously abnormal direction instructions, and avoid the risk of manual misoperation. The dual protection mechanism reduces the accident probability in high-risk scenarios (such as the edge of the photovoltaic array and the dense obstacle area).

[0019] In one embodiment, the preset duration consists of multiple consecutive time periods, and step S170 includes:

[0020] Within the preset duration, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, adjust the speed gear flag bit in the control information in each time period in a gradually decelerating manner, and block the action key status flag bit corresponding to the traveling direction in the control information after the preset duration.

[0021] The beneficial effects of this technical solution are as follows: It can gradually decelerate to prevent skidding. By decelerating in stages (instead of sudden stop), it reduces the risk of inertial displacement of the robot on the smooth photovoltaic panel surface, and avoids falling off cliffs or colliding with obstacles. If the abnormality is not resolved after the preset duration, the dangerous direction instruction is forcibly blocked to prevent accidents caused by operator misjudgment or delay. The gentle gear shift reduces the instantaneous load on components such as motors and gears, and extends the equipment life.

[0022] In a second aspect, the present application also provides a control switching method, which is applied to a photovoltaic panel cleaning robot. The method includes the steps:

[0023] S210, when the photovoltaic panel cleaning robot is placed on the photovoltaic panel, obtain the control information sent by the remote control device; the control information is used to control the operation of the photovoltaic panel cleaning robot, and the control information includes a frame header, a speed gear flag bit, an action key status flag bit, and a frame tail;

[0024] S220, use the sensing device to obtain the sensing data of the traveling direction of the photovoltaic panel cleaning robot and the distance from the abnormal area; and send the sensing data as feedback data to the remote control device;

[0025] S230, when the photovoltaic panel cleaning robot is running in the constant speed mode, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, receive the control information sent by the remote control device for switching the control state, switch the photovoltaic panel cleaning robot to the jogging mode, and adjust the moving speed of the photovoltaic panel cleaning robot to 0.

[0026] In one embodiment, after receiving the control information sent by the remote control device for switching the control state, the method further includes the steps:

[0027] S240, receiving new control information sent by the remote control device, where the new control information is used to control the photovoltaic panel cleaning robot to move in a direction selected by an operator in a jog mode;

[0028] S250, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, receiving control information sent by the remote control device to block the action button status flag of the moving direction.

[0029] In one embodiment, the preset duration consists of a plurality of consecutive time periods, and step S250 includes:

[0030] Within the preset time period, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, the control information obtained is obtained after the remote control device adjusts the speed gear flag in each time period in a gradually decelerating manner; the control information obtained is also obtained after the action button status flag corresponding to the traveling direction is masked after the preset time period.

[0031] In one embodiment, the method further comprises the steps of:

[0032] S260, when the photovoltaic panel cleaning robot is operating in the inching mode, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, receiving control information sent by the remote control device for shielding the action button state flag corresponding to the abnormal direction;

[0033] S270, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is normal, receiving the shielding release control information sent by the remote control device.

[0034] In a third aspect, the present application also provides an electronic device, comprising one or more processors and a memory; one or more programs are stored in the memory and are configured to be executed by the one or more processors to perform any of the above-described methods.

[0035] In a fourth aspect, the present application also provides a photovoltaic panel cleaning system, including a photovoltaic panel cleaning robot and a remote control device, and the electronic device described in the third aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0037] Figure 1 A schematic structural diagram of a photovoltaic panel cleaning robot provided in an embodiment of the present application is shown;

[0038] Figure 2 A schematic diagram of a flow chart of a control switching method provided in an embodiment of the present application is shown;

[0039] Figure 3 shows a schematic flowchart of another control switching method provided by an embodiment of the present application;

[0040] Figure 4 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0041] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0043] A simple description of the photovoltaic panel cleaning robot to which the present application can be applied is given below. Refer to Figure 1 , Figure 1 shows a schematic structural diagram of a photovoltaic panel cleaning robot provided by an embodiment of the present application.

[0044] The photovoltaic panel cleaning robot includes a robot body 10, a spraying device 20 disposed at the front end of the robot body 10, and brush roller devices 30 symmetrically disposed on both sides of the robot body. The brush roller device includes a brush roller body, and bristles are provided on the brush roller body. The photovoltaic panel cleaning robot further includes a displacement device and a cliff detection device disposed at the bottom of the robot body; the cliff detection device includes four directions of front, back, left, and right of the robot body respectively.

[0045] In specific applications, the photovoltaic panel cleaning robot may approach an abnormal area due to reasons such as deviation. In the related art, when the photovoltaic panel cleaning robot detects an abnormal area, it will directly stop moving or automatically turn, which affects the continuity and integrity of the cleaning operation. The present application provides a cleaning method and related equipment for a photovoltaic panel cleaning robot, which can utilize the above-mentioned photovoltaic panel cleaning robot to work in cooperation with a remote control device through feedback information, allowing an operator to flexibly adjust the cleaning path according to the actual situation, avoiding the cleaning blind area formed by the traditional emergency stop strategy in the boundary area, and ensuring the continuity and integrity of the cleaning operation. The method will be described first below, and then the equipment and the like will be described.

[0046] Embodiment 1

[0047] Refer to Figure 2 , Figure 2 which shows a schematic flow chart of a control switching method provided by an embodiment of the present application. The control switching method provided by this embodiment is applied to a remote control device, and the method includes the steps:

[0048] S110, when the photovoltaic panel cleaning robot is placed on the photovoltaic panel, in response to the cleaning control operation of the operator, send control information to the photovoltaic panel cleaning robot; the control information is used to control the photovoltaic panel cleaning robot to operate in a jog mode or a constant speed mode, and the control information includes a frame header, a speed gear flag bit, an action key status flag bit, and a frame tail;

[0049] The remote control device sends control information to the robot through a frame structure (frame header, speed gear flag bit, action key status flag bit, frame tail, check bit). Among them, the speed gear flag bit is used to distinguish the operating mode, where the constant speed mode is that the photovoltaic panel cleaning robot runs automatically at a preset speed; the jog mode is to move depending on the real-time control of the operator (such as manual button control). The check bit ensures the integrity of data transmission and prevents misoperation caused by signal interference. As an example, the control instruction is, for example: 0xAA 0x02 0x09 0x55 0xXX. The frame header is 0xAA, and the photovoltaic panel cleaning robot starts to parse the data after detecting 0xAA. The speed gear flag bit is 0x02, indicating that the photovoltaic panel cleaning robot is in the 3-speed gear constant speed mode; the action key status flag bit is 0x09, corresponding to the direction control of the right button + the front button. The frame tail is 0x55. A check bit can also be provided after the frame tail, and the check bit is the data obtained by performing an exclusive OR (XOR) calculation on the data between the frame header and the frame tail. The speed gears can include a 0-speed gear (no speed), a 1-speed (low speed) gear, a 2-speed (medium low speed) gear, a 3-speed (medium speed) gear, a 4-speed (medium high speed) gear, and a 5-speed (high speed) gear.

[0050] S120, obtain the feedback information sent by the photovoltaic panel cleaning robot, where the feedback information is used to indicate whether the distance between the traveling direction of the photovoltaic panel cleaning robot and the abnormal area is lower than a preset distance; the abnormal area includes a cliff and an obstacle, and the cliff is, for example, the edge of the photovoltaic array, and the obstacle is, for example, a bracket.

[0051] The photovoltaic panel cleaning robot uses sensors (such as infrared and ultrasonic sensors) to detect abnormal areas (cliffs, obstacles) in the traveling direction in real time and calculate the distance to these areas. In this case, the feedback information includes a distance threshold judgment, and when the distance is lower than the preset safety value, an abnormal state is triggered, providing a basis for mode switching. The preset distance is, for example, 5 cm, 8 cm, and 15 cm, etc.

[0052] S130, when the photovoltaic panel cleaning robot is operating in a constant speed mode, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, the photovoltaic panel cleaning robot is switched to an inching mode, and the speed gear flag of the control information is adjusted to a 0 speed gear flag.

[0053] When the robot approaches an abnormal area, the feedback information triggers the control logic of the remote control device, switching the operating mode from fixed speed mode to inching mode. The speed gear flag is simultaneously adjusted to 0 speed gear, forcing the photovoltaic panel cleaning robot to stop moving to avoid the risk of falling or collision. In this case, after switching to inching mode, the operator needs to confirm that the environment is safe and re-control the robot movement through the action button to ensure refined operation. Therefore, after the mode is passively switched, a prompt can be provided through the speaker, display, etc. set on the remote control device to remind the operator of the passive switch of the control mode.

[0054] Therefore, this technical solution, through real-time feedback and automatic mode switching, can effectively prevent accidents caused by sudden environmental changes (such as cliffs, obstacles) in the constant speed mode of the photovoltaic panel cleaning robot. Specifically, the design of forced shutdown at 0 speed gear ensures that the robot stops immediately in an emergency, reducing the risk of hardware damage. Independent encoding of flag bits (such as separation of speed gear and action button status) simplifies the command parsing logic and improves response speed. Automatically switches to inching mode in abnormal conditions, forcing the operator to intervene and avoid potential risks caused by over-reliance on automation. Through feedback information and remote control equipment working in coordination, the operator is allowed to flexibly adjust the cleaning path according to actual conditions, avoiding the cleaning blind spots formed in the boundary area by the traditional emergency stop strategy, and ensuring the continuity and integrity of the cleaning operation.

[0055] In one embodiment, after step S120, the method further comprises the steps of:

[0056] S140, when the photovoltaic panel cleaning robot is operating in the inching mode, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, shielding the action button state flag bit corresponding to the abnormal direction in the control information;

[0057] S150, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is normal, unblocking the action button status flag.

[0058] During the jogging mode operation (manual real-time control), receive the abnormal area distance information fed back by the photovoltaic panel cleaning robot. If the feedback indicates an abnormality in the traveling direction (e.g., there is a cliff in the front left), immediately mask the action key status flag bit corresponding to the direction in the control instruction. As an example, if the right side of the photovoltaic panel cleaning robot approaches an obstacle, mask the "turn right" flag bit (Bit0) in the control instruction. Even if the operator presses the turn right key, Bit0 in the instruction is still forced to 0.

[0059] At the same time, steps for preset duration monitoring and unmasking are also set. Continuously monitor the feedback information within the preset duration (e.g., 5 seconds). If the feedback information indicates normal direction during this period (indicating that the obstacle has moved away, etc.), then unmask and restore the function of the corresponding action key. During the masking period, the operator can still send other direction instructions (such as forward), but the abnormal direction instructions are invalid.

[0060] Thus, compared with the related art, in the jogging mode, it completely relies on the operator's judgment, has no automatic protection mechanism, or most of the abnormal handling is global shutdown or requires manual reset, resulting in low efficiency. The technical solution provided in this embodiment dynamically filters instructions for specific dangerous directions instead of global shutdown, taking into account both safety and operation flexibility. Based on the judgment of environmental stability with a preset duration, automatically unmask and reduce manual intervention.

[0061] In one embodiment, after step S130, the method further includes the steps:

[0062] S160, in response to the operator's action key selection operation and gear selection operation, send new control information to the photovoltaic panel cleaning robot to control the photovoltaic panel cleaning robot to move in the jogging mode in the direction selected by the operator;

[0063] S170, within a preset duration, if the feedback information indicates that the traveling directions of the photovoltaic panel cleaning robot are all abnormal, mask the action key status flag bits corresponding to the traveling directions in the control information.

[0064] After step S130 (switch from the constant speed mode to the jogging mode and stop), the operator can actively select the action direction keys (such as turn left, reverse) and the speed gear (such as low-speed jogging) based on environmental observation or feedback information prompts. After the remote control device responds, new control information is generated, including the updated action key status flag bits and speed gear flag bits, and sent to the photovoltaic panel cleaning robot to perform directional movement in the jogging mode.

[0065] If the operator selects a direction and the robot feedback information continues to indicate an abnormal direction within a preset time (e.g., 5 seconds) (e.g., there are unforeseen obstacles or cliffs in the new direction), the action button status flag in the control information is modified. Even if the operator continues to press the button in the direction of the obstacle or cliff, the corresponding flag is set to invalid. Only operations in non-abnormal directions are allowed during the shielding period until the release conditions are met (e.g., normal feedback or manual reset).

[0066] Therefore, the technical solution provided in this embodiment provides two layers of defense. The first layer is to automatically switch to the inching mode and shut down to deal with sudden environmental risks; the second layer is to continuously monitor during manual operation, shield continuous abnormal direction instructions, and avoid the risk of manual misoperation. The dual protection mechanism reduces the probability of accidents in high-risk scenarios (such as the edge of the photovoltaic array and dense obstacle areas).

[0067] In one embodiment, the preset duration is composed of a plurality of consecutive time periods, and step S170 includes:

[0068] Within a preset time period, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, the speed gear flag in the control information is adjusted in each time period in a gradually decelerating manner, and the action button status flag corresponding to the traveling direction in the control information is masked after the preset time period.

[0069] For example, if the current speed gear is 4 and the preset duration is 5 seconds, each time period is 1 second, and the speed gear is reduced from 4 in the first time period to 3 in the second time period, then to 2 and 1, until it is reduced to 0 after the preset duration. It can be considered that the speed decreases from 5 to 0. In a specific application, if the feedback information returns to normal within a certain time period, the speed reduction process is terminated immediately, the current gear is retained, and the shielding state is released.

[0070] Therefore, the technical solution provided in this embodiment can gradually reduce the speed to prevent slipping. By reducing the speed in stages (rather than emergency stopping), the risk of inertial displacement of the robot on the smooth surface of photovoltaic panels can be reduced to avoid falling off cliffs or colliding with obstacles. If the abnormality is not resolved after a preset period of time, the dangerous direction instructions will be forcibly blocked to prevent accidents caused by misjudgment or delays by the operator. Smooth gear switching reduces the instantaneous load on motors, gears and other components, thereby extending the life of the equipment.

[0071] See also Figure 3 , Figure 3 A flow chart of a control switching method provided by an embodiment of the present application is shown. As an example, a control switching method of a remote control device applied to a photovoltaic panel cleaning system is provided, the method comprising the steps of:

[0072] R110, a control information sending step, when the photovoltaic panel cleaning robot is placed on the photovoltaic panel, in response to the cleaning control operation of the operator, control information is sent to the photovoltaic panel cleaning robot; the control information is used to control the photovoltaic panel cleaning robot to operate in a jog mode or a fixed speed mode, and the control information includes a frame header, a speed gear flag, an action button status flag, and a frame tail;

[0073] R120, a step of obtaining feedback information, obtaining feedback information sent by the photovoltaic panel cleaning robot, wherein the feedback information is used to indicate whether the distance between the traveling direction of the photovoltaic panel cleaning robot and the abnormal area is less than a preset distance;

[0074] R130, a step of handling an abnormality in the inching mode, when the photovoltaic panel cleaning robot is operating in the inching mode, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, the action button status flag corresponding to the abnormal direction in the control information is shielded;

[0075] R140, a shielding release step, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is normal, the shielding of the action button status flag is released.

[0076] R150, constant speed mode exception processing step. When the photovoltaic panel cleaning robot is operating in constant speed mode, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, the photovoltaic panel cleaning robot is switched to inching mode, and the speed gear flag of the control information is adjusted to the 0 speed gear flag.

[0077] R160, in response to the operation adjustment step, in response to the action button selection operation and the gear selection operation of the operator, new control information is sent to the photovoltaic panel cleaning robot to control the photovoltaic panel cleaning robot to move in the direction selected by the operator in the inching mode;

[0078] R170, speed reduction and shielding step. Within the preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, the speed gear flag in the control information is adjusted in each time period in a step-by-step manner, and the action button status flag corresponding to the moving direction in the control information is shielded after the preset time period.

[0079] Embodiment 2

[0080] The present application also provides a control switching method, the specific implementation of which is consistent with the implementation described in the above-mentioned embodiment 1 and the technical effects achieved, and some contents are not repeated here. The method is applied to a photovoltaic panel cleaning robot, and the method comprises the following steps:

[0081] S210. When the photovoltaic panel cleaning robot is placed on the photovoltaic panel, obtain the control information sent by the remote control device; the control information is used to control the operation of the photovoltaic panel cleaning robot, and the control information includes a frame header, a speed gear flag bit, an action button status flag bit, and a frame tail.

[0082] S220. Use the sensing device to obtain the sensing data of the traveling direction of the photovoltaic panel cleaning robot and the distance from the abnormal area; and send the sensing data as feedback data to the remote control device.

[0083] S230. When the photovoltaic panel cleaning robot is operating in a constant speed mode, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, receive the control information sent by the remote control device for switching the control state, switch the photovoltaic panel cleaning robot to the jog mode, and adjust the moving speed of the photovoltaic panel cleaning robot to 0.

[0084] In one embodiment, after receiving the control information sent by the remote control device for switching the control state, the method further includes the steps of:

[0085] S240. Receive the new control information sent by the remote control device, and the new control information is used to control the photovoltaic panel cleaning robot to move in the jog mode in the direction selected by the operator.

[0086] S250. Within a preset duration, if the feedback information indicates that the traveling directions of the photovoltaic panel cleaning robot are all abnormal, receive the control information sent by the remote control device to mask the action button status flag bit of the incoming direction.

[0087] In one embodiment, the preset duration consists of a plurality of consecutive time periods, and step S250 includes:

[0088] Within the preset duration, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, the obtained control information is obtained by the remote control device adjusting the speed gear flag bit in each time period in a gradually decreasing speed manner; the obtained control information is also obtained by masking the action button status flag bit of the corresponding traveling direction after the preset duration.

[0089] In one embodiment, the method further includes the steps of:

[0090] S260. When the photovoltaic panel cleaning robot is operating in the jog mode, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, receive the control information sent by the remote control device to mask the action button status flag bit of the corresponding abnormal direction.

[0091] S270, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is normal, receiving the control information for removing the shielding sent by the remote control device.

[0092] Embodiment 3

[0093] The embodiment of the present application also provides an electronic device, including one or more processors and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors to perform any of the methods described in Embodiment 1 or Embodiment 2. The specific implementation method thereof is consistent with the implementation method described in Embodiment 1 and Embodiment 2 above and the technical effects achieved, and some contents are not repeated here.

[0094] See also Figure 4 , Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown.

[0095] The electronic device may include, for example, at least one memory 11, at least one processor 12, and a bus 13 connecting different platform systems.

[0096] The memory 11 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 111 and / or a cache memory 112 , and may further include a read-only memory (ROM) 113 .

[0097] The memory 11 also stores a computer program, which can be executed by the processor 12 so that the processor 12 implements the steps of any of the above methods.

[0098] The memory 11 may also include a utility 114 having at least one program module 115, such program module 115 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0099] Accordingly, the processor 12 may execute the above-mentioned computer program, and may execute the utility 114 .

[0100] The processor 12 may be implemented using one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0101] The bus 13 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor bus, or any bus structure using multiple bus structures of a local area bus.

[0102] The electronic device may also communicate with one or more external devices 14 such as a keyboard, a pointing device, a Bluetooth device, etc., may also communicate with one or more devices capable of interacting with the electronic device, and / or may communicate with any device (such as a router, a modem, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through the input / output interface 15. Moreover, the electronic device may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 16. The network adapter 16 may communicate with other modules of the electronic device through the bus 13. It should be understood that although not shown in the figure, other hardware and / or software modules may be used in combination with the electronic device in practical applications, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0103] Embodiment 4

[0104] The embodiment of the present application also provides a photovoltaic panel cleaning robot, including the electronic device described in Embodiment 3, and further including a photovoltaic panel cleaning robot and a remote control device. The remote control device and the photovoltaic panel cleaning robot communicate through process communication technology. At least a set of memory, a processor, and a corresponding bus are respectively provided on the photovoltaic panel cleaning robot and the remote control device in the electronic device, for implementing the methods of Embodiment 1 and Embodiment 2.

[0105] It should be noted that, in the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may indicate: A exists alone, A and B exist simultaneously, or B exists alone, where A and B may be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single item (s) or plural items (s). For example, at least one (item) of a, b, or c may indicate: a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be single or multiple. It should be noted that "at least one (item)" can also be interpreted as "one (item) or more items (s)".

[0106] The terms "first", "second", etc. in the description, claims, and the above-mentioned drawings of the present application are configured to distinguish similar objects and do not necessarily need to be configured to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0107] From the perspectives of the purpose of use, efficacy, progress, and novelty, etc., the present application has been described and has met the functional improvement and use requirements emphasized by the patent law. The above description and the accompanying drawings of the present application are only preferred embodiments of the present application and do not limit the present application thereto. Therefore, all those that are similar or identical to the structure, device, features, etc. of the present application, that is, all equivalent substitutions or modifications made according to the scope of the patent application of the present application, shall fall within the scope of the patent application protection of the present application.

Claims

1. A control switching method, characterized in that: Applied to a remote control device, the method comprises the steps of: S110, when the photovoltaic panel cleaning robot is placed on the photovoltaic panel, in response to a cleaning control operation of an operator, sending control information to the photovoltaic panel cleaning robot; The control information is used to control the photovoltaic panel cleaning robot to operate in a jog mode or a constant speed mode, and the control information includes a frame header, a speed gear position flag, an action button status flag, and a frame tail; S120, obtaining feedback information sent by the photovoltaic panel cleaning robot, where the feedback information is used to indicate whether the distance between the moving direction of the photovoltaic panel cleaning robot and the abnormal area is less than a preset distance; S130, when the photovoltaic panel cleaning robot is operating in a constant speed mode, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, the photovoltaic panel cleaning robot is switched to an inching mode, and the speed gear flag of the control information is adjusted to a 0 speed gear flag.

2. The control switching method according to claim 1, characterized in that: After step S120, the method further comprises the steps of: S140, when the photovoltaic panel cleaning robot is operating in the inching mode, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, shielding the action button state flag bit corresponding to the abnormal direction in the control information; S150, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is normal, unblocking the action button status flag.

3. The control switching method according to claim 1, characterized in that: After step S130, the method further comprises the steps of: S160, in response to the action button selection operation and the gear selection operation of the operator, sending new control information to the photovoltaic panel cleaning robot to control the photovoltaic panel cleaning robot to move in the direction selected by the operator in the inching mode; S170, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, the action button status flag corresponding to the moving direction in the control information is shielded.

4. The control switching method according to claim 3, characterized in that: The preset duration is composed of a plurality of continuous time periods, and step S170 includes: Within a preset time period, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, the speed gear flag in the control information is adjusted in each time period in a gradually decelerating manner, and the action button status flag corresponding to the traveling direction in the control information is masked after the preset time period.

5. A control switching method, characterized in that: The method is applied to a photovoltaic panel cleaning robot, and the method comprises the steps of: S210, when the photovoltaic panel cleaning robot is placed on the photovoltaic panel, obtaining control information sent by the remote control device; the control information is used to control the operation of the photovoltaic panel cleaning robot, and the control information includes a frame header, a speed gear flag, an action button status flag, and a frame tail; S220, using a sensor device to obtain sensor data of the traveling direction and the distance of the abnormal area of ​​the photovoltaic panel cleaning robot; and sending the sensor data as feedback data to the remote control device; S230, when the photovoltaic panel cleaning robot is operating in a constant speed mode, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, receive the control information sent by the remote control device for switching the control state, switch the photovoltaic panel cleaning robot to the inching mode, and adjust the moving speed of the photovoltaic panel cleaning robot to 0.

6. The control switching method according to claim 5, characterized in that: After receiving the control information sent by the remote control device for switching the control state, the method further comprises the steps of: S240, receiving new control information sent by the remote control device, where the new control information is used to control the photovoltaic panel cleaning robot to move in a direction selected by an operator in a jog mode; S250, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, receiving control information sent by the remote control device to block the action button status flag of the moving direction.

7. The control switching method according to claim 6, characterized in that: The preset duration is composed of a plurality of continuous time periods, and step S250 includes: Within the preset time period, if the feedback information indicates that the traveling direction of the photovoltaic panel cleaning robot is abnormal, the control information obtained is obtained after the remote control device adjusts the speed gear flag in each time period in a gradually decelerating manner; the control information obtained is also obtained after the action button status flag corresponding to the traveling direction is masked after the preset time period.

8. The control switching method according to claim 5, characterized in that: The method further comprises the steps of: S260, when the photovoltaic panel cleaning robot is operating in the inching mode, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is abnormal, receiving control information sent by the remote control device for shielding the action button state flag corresponding to the abnormal direction; S270, within a preset time period, if the feedback information indicates that the moving direction of the photovoltaic panel cleaning robot is normal, receiving the control information for removing the shielding sent by the remote control device.

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

10. A photovoltaic panel cleaning system, characterized in that: The invention comprises a photovoltaic panel cleaning robot and a remote control device, and the electronic device as claimed in claim 9.

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