Alarm method for photovoltaic panel cleaning robot and related equipment

Abstract

The invention relates to an alarm method for a photovoltaic panel cleaning robot and related equipment. The method comprises the steps that S1, control information of remote control equipment is received, and a shifting device is controlled to drive the photovoltaic panel cleaning robot to move; s2, when the cleaning instruction of the remote control equipment is executed in real time, the cliff detection device is used for detecting the distance between the photovoltaic panel cleaning robot and the cliff, and first position detection information is obtained; and S3, when the first position detection information indicates that the distance between the photovoltaic panel cleaning robot and the cliff is lower than a first preset distance threshold value, the direction lower than the first preset distance threshold value serves as a target direction, and a feedback device arranged in the target direction of a robot body is controlled to give an alarm. And feedback information indicating the target direction is generated and sent to the remote control equipment. 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 of cleaning operation is ensured.

Description

Technical Field

[0001] This application relates to the technical field of photovoltaic panel cleaning, and particularly to an alarm method and related equipment for a photovoltaic panel cleaning robot. Background Art

[0002] With the rapid development of photovoltaic power generation technology, the scale of photovoltaic power stations has been continuously expanding, and the cleaning and maintenance work of photovoltaic panels has become increasingly important. Currently, the cleaning of photovoltaic panels mainly relies on manual labor or cleaning robots. However, manual cleaning has low efficiency and certain safety hazards; while existing photovoltaic panel cleaning robots can improve the cleaning efficiency when performing cleaning tasks, when approaching the edge (cliff) of the photovoltaic panel, they usually directly stop moving to avoid the risk of falling or damage. Although this emergency stop strategy can prevent the robot from falling, it will cause the cleaning operation to be interrupted and affect the continuity of cleaning.

[0003] Therefore, there is an urgent need for an alarm method and related equipment for a photovoltaic panel cleaning robot to solve the above technical problems. Summary of the Invention

[0004] This application provides an alarm method and related equipment for a photovoltaic panel cleaning robot, which is used to solve the problem in related technologies that when the cleaning robot approaches the edge of the photovoltaic panel, it directly stops its movement, affecting the continuity of the cleaning operation.

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

[0006] In a first aspect, this application provides an alarm method for a photovoltaic panel cleaning robot. The photovoltaic panel cleaning robot includes a robot body, a displacement device disposed at the bottom of the robot body, and the photovoltaic panel cleaning robot further includes a cliff detection device. The method includes the steps of:

[0007] S1, receiving control information from a remote control device; generating a displacement drive signal according to the control information, and controlling the displacement device to drive the photovoltaic panel cleaning robot to move;

[0008] S2, when the cleaning instruction of the remote control device is executed in real time, using the cliff detection device to detect the distance between the photovoltaic panel cleaning robot and the cliff, and obtaining first position detection information;

[0009] S3. When the first position detection information indicates that the distance between the photovoltaic panel cleaning robot and the cliff is lower than the first preset distance threshold, use the direction lower than the first preset distance threshold as the target direction, control the feedback device in the target direction arranged on the robot body to give a warning, and generate feedback information indicating the target direction and send it to the remote control device; the feedback information is used for the remote control device to block the target direction displacement instruction in the control information.

[0010] The beneficial effects of this technical solution are as follows. On the one hand, by combining the autonomous detection of the photovoltaic panel cleaning robot with the control of the remote control device, this technical solution forms an interactive control mechanism rather than a simple emergency stop strategy. When a dangerous distance is detected, the photovoltaic panel cleaning robot does not directly stop moving. Instead, it works in coordination with the remote control device through feedback information, allowing the 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. On the other hand, when the first position detection information shows that the distance between the photovoltaic panel cleaning robot and the cliff is lower than the first preset distance threshold, it indicates that the photovoltaic panel cleaning robot is approaching the dangerous edge. At this time, determine the target direction and trigger the feedback device (such as a warning light, buzzer, etc.) to give a warning to remind the operator to pay attention to potential dangers; at the same time, generate feedback information containing the target direction information and send it to the remote control device. After receiving the feedback information, the remote control device automatically blocks the displacement instruction in the target direction. Even if the operator accidentally presses the control button in the target direction, the photovoltaic panel cleaning robot will not move in the dangerous direction. Through the real-time detection and feedback mechanism, the risk of the photovoltaic panel cleaning robot falling is effectively reduced, ensuring the safe operation of the equipment. On the other hand, the warning function of the feedback device and the automatic shielding mechanism of the remote control device simplify the operation process, reduce the risk of misoperation, improve the accuracy and convenience of operation, and thus significantly improve the reliability and efficiency of the cleaning operation.

[0011] In one embodiment, the photovoltaic panel cleaning robot further includes two brush roller devices symmetrically arranged on both sides of the robot body. The brush roller device includes a brush roller body and a state switching unit arranged between the brush roller body and the robot body. The state switching unit is used to drive the brush roller body to rotate around the state switching unit and switch between a storage state and an unfolded state;

[0012] The cliff detection device further includes a fifth position sensor and a sixth position sensor respectively arranged at one end of the two brush roller devices away from the state switching unit; when both brush roller devices are in the unfolded state, the method further includes:

[0013] Use the fifth position sensor and the sixth position sensor to detect the distance between the brush roller device and the cliff, and obtain the second position detection information;

[0014] When the second position detection information indicates that the distance between any of the roller brush devices and the cliff is lower than the second preset distance threshold, send a roller brush distance warning message to the remote control device.

[0015] The beneficial effect of this technical solution is that when the roller brush device is deployed for cleaning, special distance detection from the cliff and warning are carried out, which can effectively prevent the roller brush device from falling and being damaged due to being too close to the cliff, and ensure the safe operation of the equipment. When the operator is remotely controlling, they can timely understand the position risk of the roller brush device through the warning message, so as to more flexibly adjust the cleaning path and operation mode, avoid dangerous situations, and enable the operator to more precisely control the robot in a complex environment. There are not only warnings and protection measures when the entire photovoltaic panel cleaning robot moves close to the cliff, but also special protection for the roller brush device when it is deployed for cleaning in this technical solution, so that the safety of the entire cleaning process is comprehensively guaranteed.

[0016] In one embodiment, the method further includes: when the second position detection information indicates that the distance between any of the roller brush devices and the cliff is lower than the second preset distance threshold, adjust the displacement drive signal to reduce the moving speed of the displacement device in the direction lower than the second preset distance threshold.

[0017] The beneficial effect of this technical solution is that by reducing the moving speed of the robot in the dangerous direction, the operator has more time to react, preventing the photovoltaic panel cleaning robot from continuing to move quickly in the dangerous direction, thus effectively reducing the risk of the photovoltaic panel cleaning robot falling off the cliff. At the same time, it enables the operator to more calmly control the photovoltaic panel cleaning robot and improves the reliability of the operation. This technical solution can automatically reduce the moving speed to cope with the application scenario where the operator may manually operate the photovoltaic panel cleaning robot to make it close to the edge of the photovoltaic panel, so that it can more fully cover the surface of the photovoltaic panel for cleaning.

[0018] In one embodiment, when generating feedback information and sending it to the remote control device, the method includes:

[0019] Receive a forced movement instruction from the remote control device, where the forced movement instruction is used to control the displacement device;

[0020] According to the forced movement instruction, control the displacement device to move in the target direction at a preset speed, where the preset speed is lower than the current moving speed of the displacement device.

[0021] The beneficial effects of this technical solution are as follows: The function of forced movement instruction is provided, enabling operators to flexibly choose whether to continue moving the photovoltaic panel cleaning robot in a dangerous direction according to the actual situation when facing complex environments or special cleaning requirements. At the same time, after reducing the moving speed, the operator can more precisely control the position adjustment of the robot, improving the reliability of the operation and the flexibility of the cleaning operation. By adjusting the speed to balance the operation requirements and equipment safety, the safety of the entire cleaning process is more comprehensively guaranteed, and the intelligent level and practicality of the photovoltaic panel cleaning robot are improved.

[0022] In a second aspect, the present application also provides an alarm method, which is applied to a remote control device. The method includes the steps of:

[0023] Receiving a control operation of an operator, generating control information and sending it to a photovoltaic panel cleaning robot locally connected to the remote control device; the control information is used to control the movement of the photovoltaic panel cleaning robot;

[0024] Receiving feedback information sent by the photovoltaic panel cleaning robot, shielding the target direction displacement instruction in the control information according to the feedback information; and using a prompting device provided on the remote control device to give a prompt.

[0025] In one embodiment, the method further includes:

[0026] Receiving the warning information of the distance of the rolling brush sent by the photovoltaic panel cleaning robot, and controlling the prompting device to broadcast a warning message;

[0027] Wherein, the warning information of the distance of the rolling brush is that the photovoltaic panel cleaning robot uses a fifth position sensor and a sixth position sensor to detect the distance between the rolling brush device and the cliff, and obtains second position detection information; it is generated when the second position detection information indicates that the distance between any one of the rolling brush devices and the cliff is lower than a second preset distance threshold.

[0028] In a third aspect, 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 are configured to be executed by the one or more processors to perform any method described in the first aspect.

[0029] In a fourth aspect, the present application also provides a photovoltaic panel cleaning robot, including the electronic device described in the second aspect, further including a robot body, a cliff detection device, and a displacement device arranged at the bottom of the robot body, and the cliff detection device is used to detect the distance between the photovoltaic panel cleaning robot and the cliff.

[0030] In one embodiment, it further includes two roller brush devices symmetrically arranged on both sides of the robot body. The roller brush device includes a roller brush body and a state switching unit arranged between the roller brush body and the robot body. The state switching unit is used to drive the roller brush body to rotate around the state switching unit to switch between a storage state and an unfolded state.

[0031] In one embodiment, the cliff detection device includes a first position sensor, a second position sensor, a third position sensor, and a fourth position sensor respectively arranged in the front, rear, left, and right four directions of the robot body; it further includes a fifth position sensor and a sixth position sensor respectively arranged at one end of the two roller brush devices away from the state switching unit. Description of the Drawings

[0032] The present application will be further described below in conjunction with the drawings and embodiments.

[0033] Figure 1 Shows a schematic structural diagram of a photovoltaic panel cleaning robot provided by an embodiment of the present application;

[0034] Figure 2 Shows a schematic structural diagram of another photovoltaic panel cleaning robot provided by an embodiment of the present application;

[0035] Figure 3 Shows a schematic flow diagram of an alarm method for a photovoltaic panel cleaning robot provided by an embodiment of the present application;

[0036] Figure 4 Shows a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0037] 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, the purpose of providing these embodiments is to make the understanding of the disclosure content of the present invention more thorough and comprehensive.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the specification 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.

[0039] See Figure 1 and Figure 2 , Figure 1The figure shows a schematic structural diagram of a photovoltaic panel cleaning robot provided by an embodiment of the present application. Figure 2 The figure shows a schematic structural diagram of another photovoltaic panel cleaning robot provided by an embodiment of the present application. Among them, Figure 1 is a schematic diagram of the rolling brush device in the deployed state, Figure 2 is a schematic diagram of the rolling brush device in the retracted state.

[0040] 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 rolling brush devices 30 symmetrically disposed on both sides of the robot body. The rolling brush device includes a rolling brush body and a state switching unit disposed between the rolling brush body and the robot body. The state switching unit is used to drive the rolling brush body to rotate around the state switching unit and switch between the retracted state and the deployed state. The rolling brush body is provided with bristles. The state switching unit can be composed of components such as a motor, a reducer, and a coupling. 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 a fifth position sensor and a sixth position sensor respectively disposed at one end of the two rolling brush devices away from the state switching unit, and a first position sensor, a second position sensor, a third position sensor, and a fourth position sensor respectively disposed in the front, back, left, and right four directions of the robot body. It can be considered that the orientation where the spraying device 20 is disposed is the front, and the opposite orientation is the back.

[0041] In specific applications, the photovoltaic panel cleaning robot may approach the cliff due to reasons such as deviation. In the related art, when the photovoltaic panel cleaning robot detects the cliff, it will directly stop moving or automatically turn, which affects the continuity of the cleaning operation. The present application provides a cleaning method and related equipment for a photovoltaic panel cleaning robot. The above-mentioned photovoltaic panel cleaning robot can be used to work in coordination with a remote control device through feedback information, allowing the 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.

[0042] Embodiment 1

[0043] See Figure 3 , Figure 3 The figure shows a schematic flowchart of an alarm method for a photovoltaic panel cleaning robot provided by an embodiment of the present application.

[0044] The method includes the steps:

[0045] S101, receiving control information from a remote control device; generating a displacement drive signal according to the control information, and controlling the displacement device to drive the photovoltaic panel cleaning robot to move;

[0046] It can be considered that the photovoltaic panel cleaning robot is equipped with a receiving device for receiving control information from a remote control device. The control information contains instructions for driving the robot to move and perform cleaning operations. After receiving the control information, it will be parsed and processed to generate corresponding displacement drive signals. The displacement drive signals are transmitted to the displacement device to drive the photovoltaic panel cleaning robot to move and perform cleaning operations according to the instructions of the remote control device.

[0047] S102, when the cleaning instruction of the remote control device is executed in real time, use the cliff detection device to detect the distance between the photovoltaic panel cleaning robot and the cliff, and obtain the first position detection information;

[0048] During the process of executing the cleaning instruction to perform the cleaning operation, the cliff detection device continuously detects the distance between the photovoltaic panel cleaning robot and the cliff. The cliff detection device can be an infrared sensor, an ultrasonic sensor, etc., which can sense the relative distance between the photovoltaic panel cleaning robot and the cliff edge, and convert the detected distance information into the first position detection information.

[0049] S103, when the first position detection information indicates that the distance between the photovoltaic panel cleaning robot and the cliff is lower than the first preset distance threshold, use the direction lower than the first preset distance threshold as the target direction, control the feedback device in the target direction set on the robot body to give a warning, and generate feedback information indicating the target direction and send it to the remote control device; the feedback information is used for the remote control device to block the displacement instruction in the target direction in the control information. That is to say, when it is detected that the photovoltaic panel cleaning robot is approaching the dangerous edge, the feedback device will immediately start the warning action, such as giving an audible and visual alarm (such as warning lights flashing, buzzers sounding) or vibration reminder, etc., to send a clear danger alarm signal to the operator. This real-time warning mechanism can intuitively prompt the operator of the current potential danger state of the robot, ensure that the operator can detect it in time and take corresponding measures, so as to effectively avoid the risk of equipment falling caused by operational negligence or delayed response.

[0050] In the technical solution provided by this embodiment, when the first position detection information indicates that the distance between the photovoltaic panel cleaning robot and the cliff is lower than the first preset distance threshold, it means that the robot is approaching the cliff edge and there is a risk of falling. At this time, the photovoltaic panel cleaning robot will determine the direction below the threshold as the target direction and trigger the feedback device set in the target direction of the robot body. The feedback device is, for example, a warning light, a buzzer, etc., to give a warning and remind the operator of the remote control device to pay attention to the danger. At the same time, the photovoltaic panel cleaning robot will generate feedback information containing the target direction information and send it back to the remote control device. After receiving the feedback information, the remote control device will automatically block the displacement instruction of the target direction in the control information. Even if the operator does not notice the alarm of the feedback device and presses the control button of the target direction, the photovoltaic panel cleaning robot will not continue to move in the dangerous direction.

[0051] Thus, on the one hand, by combining the autonomous detection of the photovoltaic panel cleaning robot with the control of the remote control device, this technical solution forms an interactive control mechanism rather than a simple emergency stop strategy. When the dangerous distance is detected, the photovoltaic panel cleaning robot does not directly stop moving, but works in coordination with the remote control device through feedback information, allowing the 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. On the other hand, when the first position detection information shows that the distance between the photovoltaic panel cleaning robot and the cliff is lower than the first preset distance threshold, it indicates that the photovoltaic panel cleaning robot has approached the dangerous edge. At this time, the target direction is determined and the feedback device (such as a warning light, a buzzer, etc.) is triggered to give a warning to remind the operator to pay attention to the potential danger; at the same time, feedback information containing the target direction information is generated and sent to the remote control device. After receiving the feedback information, the remote control device automatically blocks the displacement instruction of the target direction. Even if the operator accidentally presses the control button of the target direction, the photovoltaic panel cleaning robot will not move in the dangerous direction. Through the real-time detection and feedback mechanism, the risk of the photovoltaic panel cleaning robot falling is effectively reduced, ensuring the safe operation of the equipment. On the other hand, the warning function of the feedback device and the automatic shielding mechanism of the remote control device simplify the operation process, reduce the risk of misoperation, improve the accuracy and convenience of the operation, and thus significantly improve the reliability and efficiency of the cleaning operation.

[0052] In one embodiment, step S102 includes:

[0053] Using the first position sensor, the second position sensor, the third position sensor, and the fourth position sensor to respectively detect the distances between the front, rear, left, and right four sides of the robot body and the cliff as the first position detection information;

[0054] Step S103 also includes: when the target direction is any single direction among front, back, left and right, the feedback information is used by the remote control device to shield the target direction displacement instruction corresponding to the same direction; and when the target direction is between adjacent directions, the feedback information is used by the remote control device to shield the target direction displacement instructions corresponding to two directions.

[0055] In one embodiment, when the roller brush devices are all in the unfolded state, the method further includes:

[0056] S104, using the fifth position sensor and the sixth position sensor to detect the distance between the roller brush device and the cliff, and obtaining second position detection information;

[0057] S105: When the second position detection information indicates that the distance between any of the roller brush devices and the cliff is lower than a second preset distance threshold, a roller brush distance warning message is sent to the remote control device. The distance warning message may be a voice message that controls the remote control device to remind the operator that there is a risk of falling in the direction where the distance between the operator and the cliff is lower than the second preset distance threshold.

[0058] When the photovoltaic panel cleaning robot is performing cleaning operations, when the roller brush devices are in the unfolded state, an additional cliff detection mechanism is activated. The fifth position sensor and the sixth position sensor installed on the roller brush device are used to detect the distance between the roller brush device and the cliff in real time. The fifth position sensor and the sixth position sensor are devices that can sense distance, such as infrared sensors and ultrasonic sensors, and convert the detected distance information into second position detection information. After receiving the second position detection information, it is compared with the preset second distance threshold. If the second position detection information shows that the distance between any roller brush device and the cliff is lower than the second preset distance threshold, it means that the roller brush device is too close to the edge of the cliff. Send roller brush distance warning information to the remote control device to remind the operator to pay attention to the dangerous position status of the current roller brush device.

[0059] Therefore, when the roller brush device is cleaning, it is specially detected and warned of the distance from the cliff, which can effectively prevent the roller brush device from falling and being damaged due to being too close to the cliff, and ensure the safe operation of the equipment. When the operator is operating remotely, he can timely understand the position risk of the roller brush device through the warning information, so as to more flexibly adjust the cleaning path and operation mode to avoid the occurrence of dangerous situations, so that the operator can control the robot more accurately in a complex environment. Not only are there warnings and protection measures when the photovoltaic panel cleaning robot moves close to the cliff as a whole, but in this technical solution, even the roller brush device has special protection when it is cleaning, so that the safety of the entire cleaning process is fully guaranteed.

[0060] In one embodiment, the method further includes: when the second position detection information indicates that the distance between any of the roller brush devices and the cliff is lower than a second preset distance threshold, adjusting the displacement drive signal to reduce the moving speed of the displacement device in the direction lower than the second preset distance threshold.

[0061] Thus, by reducing the moving speed of the robot in the dangerous direction, the operator has more time to react, preventing the photovoltaic panel cleaning robot from continuing to move rapidly in the dangerous direction, thereby effectively reducing the risk of the photovoltaic panel cleaning robot falling off the cliff. At the same time, it enables the operator to control the photovoltaic panel cleaning robot more calmly, improving the reliability of the operation. This technical solution can automatically reduce the moving speed to cope with the application scenario where the operator may manually operate the photovoltaic panel cleaning robot to make it approach the edge of the photovoltaic panel, enabling it to more fully cover the surface of the photovoltaic panel for cleaning.

[0062] In one embodiment, when generating feedback information and sending it to the remote control device, the method includes:

[0063] Receiving a forced movement instruction from the remote control device, the forced movement instruction being used to control the displacement device;

[0064] According to the forced movement instruction, controlling the displacement device to move in the target direction at a preset speed, the preset speed being lower than the current moving speed of the displacement device.

[0065] When the photovoltaic panel cleaning robot generates feedback information and sends it to the remote control device, the operator can understand the dangerous state of the photovoltaic panel cleaning robot based on the feedback information. If the operator determines that it is necessary to continue moving the photovoltaic panel cleaning robot in the target direction (i.e., the direction in which the photovoltaic panel cleaning robot approaches the cliff), for example, if the operator manually determines that it can cross the cliff, a forced movement instruction can be sent on the remote control device, and this instruction is used to control the displacement device of the photovoltaic panel cleaning robot. After receiving the forced movement instruction, the photovoltaic panel cleaning robot will control the displacement device to move in the target direction at a preset speed according to this instruction. Here, the preset speed is lower than the current moving speed of the displacement device, that is to say, the photovoltaic panel cleaning robot will move in the dangerous direction at a slower and more controllable speed.

[0066] Accordingly, the function of the forced movement instruction is provided, enabling the operator to flexibly choose whether to continue moving the photovoltaic panel cleaning robot in the dangerous direction according to the actual situation when facing complex environments or special cleaning requirements, thereby avoiding the formation of cleaning blind spots in the boundary area. At the same time, after reducing the moving speed, the operator can more precisely control the position adjustment of the robot, improving the reliability of the operation and the flexibility of the cleaning operation. By adjusting the speed to balance the operation requirements and equipment safety, the safety of the entire cleaning process is more comprehensively guaranteed, enhancing the intelligent level and practicality of the photovoltaic panel cleaning robot.

[0067] In a specific application, the way to send the forced movement instruction on the remote control device is, for example, that the operator presses the direction key and the forced task key simultaneously, and sends the forced movement instruction in the direction of the direction key in the form of a combined key press.

[0068] When moving forcibly, the photovoltaic panel cleaning robot can issue a voice prompt such as "Forcibly cross the cliff".

[0069] In one embodiment, when the first position detection information indicates that the distance between the photovoltaic panel cleaning robot and the cliff is lower than the first preset distance threshold, the two roller brush devices are switched from the deployed state to the retracted state.

[0070] The photovoltaic panel cleaning robot uses the cliff detection device to continuously detect the distance between itself and the cliff and obtains the first position detection information. When the first position detection information shows that the distance between the robot and the cliff is lower than the first preset distance threshold, the state switching mechanism of the roller brush device is triggered. Specifically, the two roller brush devices are switched from the deployed state (i.e., the state where the roller brush device extends out of the robot body and contacts the surface of the photovoltaic panel for cleaning) to the retracted state (i.e., the state where the roller brush device is close to the robot body).

[0071] By switching the roller brush device from the deployed state to the retracted state, it can effectively avoid the falling damage caused by the roller brush device continuing to clean when it is too close to the cliff, further reducing the risk of the photovoltaic panel cleaning robot falling off the cliff, ensuring the safe operation of the equipment, and reducing the equipment damage caused by falling.

[0072] Embodiment II

[0073] The embodiment of the present application also provides an alarm method, the specific implementation manner of which is the same as the implementation manner and the achieved technical effects described in the above Embodiment I, and some contents will not be repeated. The method is applied to the remote control device, and the method includes the steps:

[0074] Receive the control operation of the operator, generate control information and send it to the photovoltaic panel cleaning robot locally connected to the remote control device; the control information is used to control the movement of the photovoltaic panel cleaning robot.

[0075] Receive the feedback information sent by the photovoltaic panel cleaning robot, and shield the target direction displacement instruction in the control information according to the feedback information; use the prompting device provided on the remote control device to give a prompt.

[0076] The remote control device receives the control operation of the operator, generates corresponding control information according to the operation of the operator, and sends the control information to the photovoltaic panel cleaning robot locally connected to the remote control device. The local connection is, for example, a Bluetooth connection or a WIFI connection. The control information is mainly used to control the movement of the photovoltaic panel cleaning robot, such as which direction to move, the moving speed, etc.; the control information can also control the cleaning actions of the photovoltaic panel cleaning robot, such as spraying water, rolling the brush, etc. The remote control device receives the feedback information from the photovoltaic panel cleaning robot, and shields the target direction displacement instruction in the control information according to the received feedback information.

[0077] After the remote control device shields the target direction displacement instruction according to the feedback information, the prompting device provided on the remote control device can be used to give a prompt. The prompting device can be a speaker, a vibrator or an LED lamp for providing a sound prompt, a vibration prompt or a light prompt, etc., and is used to convey relevant information to the operator, reminding the operator that there is a situation that needs attention in the target direction of the current robot, such as danger, obstacles, etc.

[0078] In one embodiment, the method further includes:

[0079] Receive the warning information of the brush distance sent by the photovoltaic panel cleaning robot, and control the prompting device to broadcast the warning information;

[0080] Wherein, the brush distance warning information is that the photovoltaic panel cleaning robot uses the fifth position sensor and the sixth position sensor to detect the distance between the brush device and the cliff, and obtains the second position detection information; it is generated when the second position detection information indicates that the distance between any one of the brush devices and the cliff is lower than the second preset distance threshold.

[0081] Embodiment III

[0082] 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 are configured to be executed by the one or more processors to implement any one of the methods in Embodiment I. Its specific implementation manners are consistent with the implementation manners and the achieved technical effects recorded in the above Embodiment I, and some contents will not be repeated.

[0083] See Figure 4 , Figure 4 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0084] An electronic device may, for example, include at least one memory 11, at least one processor 12, and a bus 13 connecting different platform systems.

[0085] The memory 11 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 111 and / or cache memory 112, and may further include read-only memory (ROM) 113.

[0086] Among them, 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.

[0087] The memory 11 may also include a utility 114 having at least one program module 115. Such program modules 115 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Implementations of network environments may be included in each or some combination of these examples.

[0088] Accordingly, the processor 12 can execute the above computer program and can also execute the utility 114.

[0089] The processor 12 may employ 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.

[0090] The bus 13 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any bus structure of multiple bus structures.

[0091] The electronic device can also communicate with one or more external devices 14 such as a keyboard, a pointing device, a Bluetooth device, etc., and can also communicate with one or more devices capable of interacting with the electronic device, and / or communicate with any device (such as a router, a modem, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication can be carried out through the input / output interface 15. Moreover, the electronic device can 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 can 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 can 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.

[0092] Embodiment 4

[0093] The embodiment of the present application also provides a photovoltaic panel cleaning robot, which includes the electronic device described in Embodiment 3, and also includes a robot body, a cliff detection device, and a displacement device arranged at the bottom of the robot body. The cliff detection device is used to detect the distance between the photovoltaic panel cleaning robot and the cliff.

[0094] In one embodiment, it further includes two brush roller devices symmetrically arranged on both sides of the robot body. The brush roller device includes a brush roller body and a state switching unit arranged between the brush roller body and the robot body. The state switching unit is used to drive the brush roller body to rotate around the state switching unit and switch between a storage state and an unfolded state.

[0095] In one embodiment, the cliff detection device includes a first position sensor, a second position sensor, a third position sensor, and a fourth position sensor respectively arranged at the front, rear, left, and right four directions of the robot body; and also includes a fifth position sensor and a sixth position sensor respectively arranged at one end of the two brush roller devices away from the state switching unit.

[0096] 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, and 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 a single item or multiple items. 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 multiple items".

[0097] 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 that includes 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 that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0098] From the perspectives of the purpose of use, efficacy, progress, and novelty, etc., the present application has been described and meets the requirements of function improvement and use 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. 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 protection of the patent application of the present application.

Claims

1. An alarm method for a photovoltaic panel cleaning robot, the photovoltaic panel cleaning robot comprising a robot body, a shifting device arranged at the bottom of the robot body, characterized in that: The photovoltaic panel cleaning robot also includes a cliff detection device; the method includes the steps of: S1, receiving control information from a remote control device; generating a displacement drive signal according to the control information, and controlling the displacement device to drive the photovoltaic panel cleaning robot to move; S2, when executing the cleaning instruction of the remote control device in real time, using the cliff detection device to detect the distance between the photovoltaic panel cleaning robot and the cliff to obtain first position detection information; S3, when the first position detection information indicates that the distance between the photovoltaic panel cleaning robot and the cliff is lower than a first preset distance threshold, the direction lower than the first preset distance threshold is used as the target direction, the feedback device of the target direction arranged on the robot body is controlled to issue an alarm, and feedback information indicating the target direction is generated and sent to the remote control device; the feedback information is used by the remote control device to shield the target direction displacement instruction in the control information.

2. The alarm method according to claim 1, characterized in that: The photovoltaic panel cleaning robot also includes two roller brush devices symmetrically arranged on both sides of the robot body, the roller brush device includes a roller brush body and a state switching unit arranged between the roller brush body and the robot body, the state switching unit is used to drive the roller brush body to rotate around the state switching unit as the center, and switch between a storage state and an unfolded state; The cliff detection device further includes a fifth position sensor and a sixth position sensor respectively arranged at one end of the two roller brush devices away from the state switching unit; When the roller brush devices are all in the unfolded state, the method further includes: Using the fifth position sensor and the sixth position sensor to detect the distance between the roller brush device and the cliff, and obtaining second position detection information; When the second position detection information indicates that the distance between any of the roller brush devices and the cliff is lower than a second preset distance threshold, roller brush distance warning information is sent to the remote control device.

3. The alarm method according to claim 2, characterized in that: The method further includes: when the second position detection information indicates that the distance between any of the roller brush devices and the cliff is lower than a second preset distance threshold, adjusting the displacement drive signal to reduce the moving speed of the displacement device in a direction lower than the second preset distance threshold.

4. The alarm method according to claim 2, characterized in that: When generating feedback information to be sent to the remote control device, the method includes: receiving a forced movement instruction from the remote control device, wherein the forced movement instruction is used to control the displacement device; According to the forced movement instruction, the displacement device is controlled to move toward the target direction at a preset speed, and the preset speed is lower than the current movement speed of the displacement device.

5. An alarm method, characterized in that: The method is applied to a remote control device, and comprises the steps of: Receiving control operations of an operator, generating control information and sending the control information to a photovoltaic panel cleaning robot locally connected to the remote control device; the control information is used to control the movement of the photovoltaic panel cleaning robot; Receive feedback information sent by the photovoltaic panel cleaning robot, shield the target direction displacement instruction in the control information according to the feedback information; and use the prompting device set in the remote control device to give a prompt.

6. The alarm method according to claim 5, characterized in that: The method further comprises: Receiving the roller brush distance warning information sent by the photovoltaic panel cleaning robot, and controlling the prompt device to broadcast the warning information; Among them, the roller brush distance warning information is generated when the photovoltaic panel cleaning robot uses the fifth position sensor and the sixth position sensor to detect the distance between the roller brush device and the cliff and obtains the second position detection information; the second position detection information indicates that the distance between any of the roller brush devices and the cliff is lower than the second preset distance threshold.

7. An electronic device, characterized in that: The method comprises one or more processors and a memory; one or more programs are stored in the memory and are configured so that the one or more processors execute the method according to any one of claims 1 to 4.

8. A photovoltaic panel cleaning robot, characterized in that: The electronic device comprises the electronic device described in claim 7, further comprising a robot body, a cliff detection device, and a shifting device arranged at the bottom of the robot body, wherein the cliff detection device is used to detect the distance between the photovoltaic panel cleaning robot and the cliff.

9. The photovoltaic panel cleaning robot according to claim 8, characterized in that: It also includes two roller brush devices symmetrically arranged on both sides of the robot body, the roller brush device includes a roller brush body and a state switching unit arranged between the roller brush body and the robot body, the state switching unit is used to drive the roller brush body to rotate around the state switching unit as the center, and switch between a storage state and an unfolded state.

10. The photovoltaic panel cleaning robot according to claim 9, characterized in that: The cliff detection device includes a first position sensor, a second position sensor, a third position sensor and a fourth position sensor respectively arranged at the front, back, left and right four positions of the robot body; and also includes a fifth position sensor and a sixth position sensor respectively arranged at one end of the two roller brush devices away from the state switching unit.

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