Abnormality processing method and device and photovoltaic cleaning robot

Abstract

The invention provides an exception handling method and device and a photovoltaic cleaning robot, in the cleaning process of the photovoltaic cleaning robot, equipment information of each piece of machine equipment on the photovoltaic cleaning robot is obtained, and whether the photovoltaic cleaning robot is abnormal or not is judged based on the obtained equipment information. And under the condition that the photovoltaic cleaning robot is judged to be abnormal, determining an abnormal type according to the equipment information, determining a corresponding abnormal processing strategy according to the abnormal type, and controlling the photovoltaic cleaning robot based on the abnormal processing strategy. According to the scheme, when the photovoltaic cleaning robot is abnormal, the specific abnormal type is determined, then the corresponding abnormal processing strategy is adopted to solve the abnormal in a targeted mode, the abnormal processing accuracy is improved, and the abnormal can be efficiently eliminated to quickly recover normal operation of the robot.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular, to an exception handling method, apparatus, and photovoltaic cleaning robot. Background Art

[0002] In recent years, the photovoltaic power generation industry has shown strong development momentum, and the scale of photovoltaic modules, as the main components thereof, has also become larger and larger. Since photovoltaic modules need to be installed outdoors, after a long time, pollutants such as dust, bird droppings, and leaves often accumulate on their surfaces, and these pollutants will reduce the power generation efficiency of the photovoltaic modules. If the photovoltaic modules are cleaned regularly, the power generation efficiency of the photovoltaic panels will be significantly improved.

[0003] In the traditional cleaning method, workers need to work on the roof or at a high place for cleaning, which has a high risk and low cleaning efficiency. The photovoltaic cleaning robot can automatically and efficiently complete the cleaning task without manual intervention, saving human resources and reducing the safety risk during the cleaning process.

[0004] Since the photovoltaic cleaning robot is installed on the photovoltaic module to perform the cleaning operation, abnormal situations may occur during the cleaning operation, resulting in phenomena such as jamming. The existing methods for handling exceptions usually control the photovoltaic cleaning robot to retreat or alarm to wait for manual troubleshooting. The existing handling methods are single and inaccurate, and it is difficult to quickly troubleshoot the problem and then restore the normal operation of the machine. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide an exception handling method, apparatus, and photovoltaic cleaning robot to improve the accuracy of exception handling.

[0006] In a first aspect, the present invention provides an exception handling method applied to a photovoltaic cleaning robot, where the photovoltaic cleaning robot includes a plurality of machine devices, and the method includes:

[0007] During the cleaning process of the photovoltaic cleaning robot, obtain the device information of each of the machine devices;

[0008] Based on the obtained device information, determine whether the photovoltaic cleaning robot has an exception;

[0009] In the case where it is determined that the photovoltaic cleaning robot has an exception, determine the type of exception that has occurred according to the device information;

[0010] Determine a corresponding exception handling strategy according to the type of exception, and control the photovoltaic cleaning robot based on the exception handling strategy.

[0011] In an alternative embodiment, the machine device includes a motor, an ammeter, and a photoelectric sensor. The ammeter is used to detect the operating current of the motor. The photoelectric sensor includes at least one pair, and at least one pair of photoelectric sensors is disposed at the bottom of the fuselage of the photovoltaic cleaning robot;

[0012] The step of determining the type of abnormality that occurs based on the device information includes:

[0013] Determine the type of abnormality that occurs based on the operating state information of the motor, the operating current detected by the ammeter, and the photoelectric signals detected by the at least one pair of photoelectric sensors.

[0014] In an alternative embodiment, the step of determining the type of abnormality that occurs based on the operating state information of the motor, the operating current detected by the ammeter, and the photoelectric signals detected by the at least one pair of photoelectric sensors includes:

[0015] When the operating state information of the motor includes an error message, determine that the type of abnormality that occurs is a motor failure;

[0016] When the operating current detected by the ammeter exceeds a preset current, determine that the type of abnormality that occurs is an overcurrent;

[0017] For each pair of photoelectric sensors in the at least one pair of photoelectric sensors, when the photoelectric signals detected by the two photoelectric sensors in each pair of photoelectric sensors are inconsistent, determine that the type of abnormality that occurs is a fuselage tilt.

[0018] In an alternative embodiment, the type of abnormality includes a motor failure. The step of controlling the photovoltaic cleaning robot based on the abnormality handling strategy includes:

[0019] When the type of abnormality is a motor failure, determine whether the number of occurrences of the abnormality of the motor failure is greater than a preset number;

[0020] When it is greater than the preset number, control the photovoltaic cleaning robot to stop and send an alarm message;

[0021] When it is less than or equal to the preset number, cut off the power supply of the motor, restart the motor after a preset time interval, and control the photovoltaic cleaning robot to continue moving forward and perform a cleaning operation.

[0022] In an alternative embodiment, the type of abnormality includes an overcurrent. The step of controlling the photovoltaic cleaning robot based on the abnormality handling strategy includes:

[0023] When the abnormal type is excessive current, determine whether the number of times the excessive current abnormality occurs at the same abnormal position point is greater than a preset number;

[0024] When it is greater than the preset number, control the photovoltaic cleaning robot to retreat to the stop position;

[0025] When it is less than or equal to the preset number, control the photovoltaic cleaning robot to retreat a first set distance to the retreat position point, and then control the photovoltaic cleaning robot to move forward again from the retreat position point and perform the cleaning operation.

[0026] In an alternative embodiment, the step of controlling the photovoltaic cleaning robot to move forward again from the retreat position point and perform the cleaning operation includes:

[0027] Obtain the original traveling speed of the photovoltaic cleaning robot before the abnormality occurs, and add a set value to the original traveling speed to obtain an updated traveling speed;

[0028] Control the photovoltaic cleaning robot to move forward again from the retreat position point at the updated traveling speed and perform the cleaning operation.

[0029] In an alternative embodiment, the abnormal type includes body tilt, and the step of controlling the photovoltaic cleaning robot based on the abnormal handling strategy includes:

[0030] When the abnormal type is body tilt, determine whether the number of times the body tilt abnormality occurs is greater than a preset number;

[0031] When it is greater than the preset number, control the photovoltaic cleaning robot to retreat to the stop position;

[0032] When it is less than or equal to the preset number, control the photovoltaic cleaning robot to retreat a second set distance to the retreat position point, adjust the body angle of the photovoltaic cleaning robot, and then control the photovoltaic cleaning robot to move forward again from the retreat position point and perform the cleaning operation.

[0033] In an alternative embodiment, the photovoltaic cleaning robot includes two wheels respectively located at both ends of the body of the photovoltaic cleaning robot, and the motor includes two motors respectively connected to the wheels;

[0034] The step of adjusting the body angle of the photovoltaic cleaning robot includes:

[0035] Determine the tilt direction of the body based on the photoelectric signals detected by the photoelectric sensors in the at least one pair of photoelectric sensors;

[0036] Determine a target wheel from the two wheels according to the inclination direction;

[0037] Start the motor connected to the target wheel to drive the target wheel to reverse to the position point corresponding to the other wheel.

[0038] In a second aspect, the present invention provides an abnormality handling device, which is applied to a photovoltaic cleaning robot. The photovoltaic cleaning robot includes a plurality of machine devices, and the device includes:

[0039] An acquisition module, configured to acquire the device information of each of the machine devices during the cleaning process of the photovoltaic cleaning robot;

[0040] A judgment module, configured to judge whether the photovoltaic cleaning robot has an abnormality based on the acquired device information;

[0041] A determination module, configured to determine the type of abnormality that occurs according to the device information when it is determined that the photovoltaic cleaning robot has an abnormality;

[0042] A processing module, configured to determine a corresponding abnormality handling strategy according to the type of abnormality, and control the photovoltaic cleaning robot based on the abnormality handling strategy.

[0043] In a third aspect, the present invention provides a photovoltaic cleaning robot, including:

[0044] One or more processors;

[0045] A storage device, configured to store one or more programs;

[0046] When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of the foregoing embodiments.

[0047] The present invention provides an abnormality handling method, device and photovoltaic cleaning robot. During the cleaning process of the photovoltaic cleaning robot, the device information of each machine device on the photovoltaic cleaning robot is acquired, and it is judged whether the photovoltaic cleaning robot has an abnormality based on the acquired device information. When it is determined that the photovoltaic cleaning robot has an abnormality, the type of abnormality that occurs is determined according to the device information, a corresponding abnormality handling strategy is determined according to the type of abnormality, and the photovoltaic cleaning robot is controlled based on the abnormality handling strategy. In this solution, when the photovoltaic cleaning robot has an abnormality, the specific type of abnormality is determined, and then the corresponding abnormality handling strategy is adopted to solve the abnormality specifically, improving the accuracy of abnormality handling and efficiently eliminating the abnormality to quickly restore the normal operation of the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the attached drawings required for use in the embodiments of the present invention. It should be understood that the following attached drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related attached drawings can also be obtained based on these attached drawings.

[0049] Figure 1 Flow chart of the exception handling method provided by the embodiment of the present invention;

[0050] Figure 2 (a) Schematic diagram of the setting of the photoelectric sensor in the embodiment of the present invention;

[0051] Figure 2 (b) Schematic diagram of the setting of the photoelectric sensor in the embodiment of the present invention;

[0052] Figure 3 (a) Schematic diagram of the fuselage in the tilted state in the embodiment of the present invention;

[0053] Figure 3 (b) Schematic diagram of the fuselage in the tilted state in the embodiment of the present invention;

[0054] Figure 4 Schematic diagram of the control in the exception type of the fuselage tilt in the embodiment of the present invention;

[0055] Figure 5 Schematic diagram of the control in the exception type of the fuselage tilt in the embodiment of the present invention;

[0056] Figure 6 Overall logic diagram of the exception handling method provided by the embodiment of the present invention;

[0057] Figure 7 Functional module block diagram of the exception handling device provided by the embodiment of the present invention;

[0058] Figure 8 Structural block diagram of the photovoltaic cleaning robot provided by the embodiment of the present invention.

[0059] Icons: 11 - Acquisition module; 12 - Judgment module; 13 - Determination module; 14 - Processing module; 21 - Processor; 22 - Storage device; 23 - Input device. Detailed implementation manners

[0060] The following will describe the technical solutions in the embodiments of the present invention in conjunction with the attached drawings in the embodiments of the present invention.

[0061] During the cleaning process of the photovoltaic cleaning robot, abnormalities may occur to the photovoltaic cleaning robot due to equipment failures or obstacles, such as getting stuck, and it cannot continue to move forward normally, thus unable to complete the cleaning work.

[0062] In view of the above situation, the present invention provides an exception handling method for realizing the exception troubleshooting of the photovoltaic cleaning robot and adopting a targeted exception handling strategy to handle its exceptions, so as to efficiently eliminate the exceptions and quickly restore the normal operation of the machine.

[0063] Please refer to Figure 1 , which is a flowchart of the exception handling method provided by an embodiment of the present invention. The exception handling method can be executed by an exception handling device, which can be implemented by software and / or hardware and can be configured in an electronic device. The electronic device can be a photovoltaic cleaning robot, or a computer device communicating with the photovoltaic cleaning robot, or a controller in the photovoltaic cleaning robot (hereinafter, the electronic device is taken as an example of the controller for description). In addition, the photovoltaic cleaning robot further includes a plurality of machine devices, and the plurality of machine devices include, for example, a driving device, a cleaning device, a sensing device, etc.

[0064] Combined with Figure 1 shown in, the detailed steps of the exception handling method provided in this embodiment are introduced as follows.

[0065] S11, during the cleaning process of the photovoltaic cleaning robot, obtain the device information of each machine device.

[0066] S12, based on the obtained device information, determine whether the photovoltaic cleaning robot has an abnormality.

[0067] S13, in the case where it is determined that the photovoltaic cleaning robot has an abnormality, determine the type of abnormality according to the device information.

[0068] S14, determine the corresponding exception handling strategy according to the type of abnormality.

[0069] S15, control the photovoltaic cleaning robot based on the exception handling strategy.

[0070] The photovoltaic cleaning robot includes a fuselage and a controller disposed inside the fuselage. In addition, it further includes a drive system, a cleaning system, a sensor system, etc. connected to the controller. Among them, the drive system includes a motor, gears, a transmission belt, and wheels, etc. The wheels are arranged at both ends of the robot fuselage, and the robot fuselage is erected on the photovoltaic module. The wheels drive the robot to move on the photovoltaic module under the drive of the motor.

[0071] Among them, the cleaning system includes a water spraying device, a brush, a wiper blade, etc. While the robot moves on the photovoltaic module, the cleaning system is activated to clean the surface of the photovoltaic module.

[0072] The sensing system is mainly used to detect, during the cleaning operation of the robot, the position of the robot, the tilt angle of the robot, and obstacles in the surrounding environment, etc.

[0073] During implementation, when the controller obtains a start instruction, it controls each system to start to begin a round of cleaning process. Among them, the start instruction can be issued by the staff through a remote device communicating with the photovoltaic cleaning robot or directly based on the start button on the photovoltaic cleaning robot.

[0074] A round of cleaning process can refer to the entire process of the cleaning robot moving from one end of the photovoltaic module to the other end, or the entire process of the cleaning robot moving from one end of the photovoltaic module to the other end and then returning to the original position. This embodiment does not make specific restrictions on this.

[0075] During the cleaning process of the photovoltaic cleaning robot, the controller can continuously obtain the device information of each machine device on the photovoltaic cleaning robot. For the purpose of anomaly analysis and processing, the device information of the machine devices obtained here mainly includes the device information of the motor, the device information of the ammeter for detecting the operating current of the motor, the device information of the photoelectric sensor arranged at the bottom of the fuselage, and the device information of the position sensor for detecting the position of the photovoltaic cleaning robot, etc.

[0076] The controller determines whether the photovoltaic cleaning robot has an anomaly based on the obtained device information of each machine device. This anomaly mainly refers to that the photovoltaic cleaning robot cannot move forward normally, that is, it gets stuck. The most direct manifestation that the photovoltaic cleaning robot cannot move forward normally is that the position of the photovoltaic cleaning robot remains unchanged or the change amount is extremely small.

[0077] Therefore, as a possible implementation method, the device information of the position sensor for detecting the position of the photovoltaic cleaning robot can be directly obtained. Among them, the device information of the position sensor refers to the position information detected by the position sensor, and based on the position information, it is determined whether the photovoltaic cleaning robot is stuck.

[0078] For example, if the position sensor detects that the position of the photovoltaic cleaning robot remains unchanged or the position change amount is less than the set amount within the set time period, it can be determined that the photovoltaic cleaning robot has an anomaly.

[0079] Since the photovoltaic cleaning robot getting stuck is often caused by specific reasons, such as machine device failures that prevent it from moving forward, encountering obstacles that prevent it from moving forward normally, or abnormalities in the fuselage that prevent it from moving forward normally, etc.

[0080] Therefore, as another possible implementation, it is possible to determine whether an abnormality occurs based on the device information of other machine devices on the photovoltaic cleaning robot except for the position sensor. The other machine device is a machine device whose device information can be used to determine whether any of the above reasons exist, that is, the device information can be used to determine whether there are motor failures, encounters with obstacles, abnormalities in the fuselage, etc.

[0081] In the case where it is determined that the photovoltaic cleaning robot has an abnormality, the specific abnormality type can be determined by combining the device information of multiple machine devices. The abnormality types include motor failures, encounters with obstacles, abnormalities in the fuselage, etc. as described above.

[0082] Since the most effective solutions for different abnormality types are not the same, in this embodiment, abnormality handling strategies corresponding to various abnormality types are pre-designed. In the case where the abnormality type that appears is determined, the corresponding abnormality handling strategy can be used to control the photovoltaic cleaning robot, so that the abnormality can be handled efficiently.

[0083] In this solution, in the case where it is determined that the photovoltaic cleaning robot has an abnormality, the specific abnormality type is determined, and then the corresponding abnormality handling strategy is adopted to specifically solve the abnormality, improving the accuracy of abnormality handling and efficiently eliminating the abnormality to quickly restore the normal operation of the machine.

[0084] Motor failures, encounters with obstacles, abnormalities in the fuselage, etc. may all cause the photovoltaic cleaning robot to get stuck. Among them, the operating state information of the motor can reflect whether there is a motor failure. When the photovoltaic cleaning robot encounters an obstacle, in order to be able to cross the obstacle, the operating current of the motor may increase. Among the above machine devices, there is an ammeter for detecting the operating current of the motor. In addition, an abnormality in the fuselage often means that the fuselage is tilted, resulting in the photovoltaic cleaning robot getting stuck. In this embodiment, the machine device may include at least a pair of photoelectric sensors, and the at least a pair of photoelectric sensors are arranged at the bottom of the fuselage of the photovoltaic cleaning robot. The photoelectric signals detected by the photoelectric sensors can characterize whether the fuselage of the photovoltaic cleaning robot is tilted.

[0085] Based on this, in this embodiment, when determining whether the photovoltaic cleaning robot has an abnormality based on the obtained device information, it can specifically be determined whether the photovoltaic cleaning robot has an abnormality based on the operating state information of the motor, the operating current detected by the ammeter, and the photoelectric signals detected by at least a pair of photoelectric sensors. And the abnormality type that appears can be determined based on the operating state information of the motor, the operating current detected by the ammeter, and the photoelectric signals detected by at least a pair of photoelectric sensors.

[0086] When any of the following situations exists, it can be determined that the photovoltaic cleaning robot has an abnormality:

[0087] 1. The operating status information of the motor includes error messages.

[0088] 2. The operating current detected by the ammeter exceeds the preset current.

[0089] 3. For each pair of photoelectric sensors among at least one pair of photoelectric sensors, the photoelectric signals detected by the two photoelectric sensors in each pair are inconsistent.

[0090] When determining whether the photovoltaic cleaning robot is abnormal based on the above methods, the type of abnormality can also be determined simultaneously.

[0091] For example, if it is determined that there is an abnormality based on the condition that the operating status information of the motor includes error messages as described above, the type of abnormality is a motor failure. Generally, there are various protection mechanisms inside the motor itself, such as overcurrent, undercurrent, peak value, etc. protection mechanisms. During the operation of the motor, if any one of these protection mechanisms is triggered, the motor may send out an error message. In such a case, it can be determined that there is an abnormality of motor failure.

[0092] In addition, if it is determined that there is an abnormality based on the condition that the operating current detected by the ammeter as described above exceeds the preset current, the type of abnormality is excessive current. In such a case, although the motor speed increases due to the presence of an obstacle, resulting in excessive operating current, there is no phenomenon of motor error yet. Therefore, this situation is distinguished from the type of motor failure and defined as the type of abnormality of excessive current. Subsequently, different abnormality handling strategies are adopted for the type of abnormality of motor failure and the type of abnormality of excessive current respectively.

[0093] In addition, if it is determined that there is an abnormality based on the condition that the photoelectric signals detected by the two photoelectric sensors in each pair of photoelectric sensors as described above are inconsistent, the type of abnormality is the body tilt.

[0094] Combined Figure 2 As shown in

[0095] The photovoltaic cleaning robot is installed on the photovoltaic module, and the photoelectric sensors are arranged at the bottom of the body of the photovoltaic cleaning robot. Taking one photoelectric sensor is arranged at the left bottom and the right bottom of the photovoltaic cleaning robot as an example, it includes photoelectric sensor A and photoelectric sensor B.

[0096] When the body is not tilted or the tilt degree is very small, both photoelectric sensor A and photoelectric sensor B can receive the light reflected by the photovoltaic module, as Figure 2As shown in (a), when the installation positions of the photoelectric sensor A and the photoelectric sensor B are above the photovoltaic module and do not exceed the edge of the photovoltaic module, when the fuselage is not tilted, the light emitted by both can be reflected by the photovoltaic module, and both can receive the light reflected back by the photovoltaic module.

[0097] In addition, it is also possible that neither the photoelectric sensor A nor the photoelectric sensor B can receive the light reflected back by the photovoltaic module. For example, Figure 2 As shown in (b), when the installation positions of the photoelectric sensor A and the photoelectric sensor B are above the photovoltaic module but exceed the edge of the photovoltaic module, when the fuselage is not tilted, the light emitted by both does not reach the photovoltaic module. Therefore, neither of them can receive the light reflected back by the photovoltaic module.

[0098] When the fuselage is tilted and exceeds the allowable degree, one of the two photoelectric sensors is located within the edge of the photovoltaic module and the other is located outside the edge of the photovoltaic module. As shown in Figure 3 (a) and Figure 3 (b), therefore, the photoelectric signals detected by the two photoelectric sensors change from being originally consistent to inconsistent.

[0099] In this case, since the tilt of the fuselage will cause the photovoltaic cleaning robot to jam and unable to move forward normally, but at this time, the operating current of the motor may not be abnormal and the motor will not report an error. Therefore, the abnormal type in this case is determined as the abnormal type of fuselage tilt. Subsequently, a targeted abnormal handling strategy is adopted to handle this abnormal type.

[0100] As can be seen from the above, in this embodiment, corresponding abnormal handling strategies are adopted for different abnormal types to control the photovoltaic cleaning robot for abnormal recovery.

[0101] Among them, when the abnormal type is a motor failure, the power supply of the motor is cut off, and after a preset time interval, the motor is restarted, and the photovoltaic cleaning robot is controlled to continue moving forward and perform the cleaning operation.

[0102] During each cleaning process, if a motor failure occurs, generally, the above-mentioned processing method can solve the problem of motor failure. However, if the abnormal situation of motor failure occurs multiple times during a cleaning process, it indicates that the motor may have serious problems and other abnormal troubleshooting methods need to be involved.

[0103] Based on this consideration, in this embodiment, when it is determined that there is a motor failure, it can first be judged whether the number of abnormalities of the motor failure is greater than a preset number. If it is less than or equal to the preset number, the above abnormal handling strategy can be used for handling. When the number of abnormalities of the motor failure is greater than the preset number, the photovoltaic cleaning robot is controlled to stop and an alarm message is sent. If during a cleaning process, the number of abnormalities of the motor failure is greater than the preset number, it indicates that there is a serious abnormality in the motor. In this case, the photovoltaic cleaning robot can be turned off so that the photovoltaic cleaning robot stays at the position point where the abnormality occurs, and an alarm message is sent to notify the staff to check the photovoltaic cleaning robot, etc.

[0104] When the abnormal type is the type of excessive current, in this case, since there is no failure in the motor, there is no need to restart the motor. This abnormal type is often caused by the photovoltaic cleaning robot encountering an obstacle and being unable to pass through. For example, the photovoltaic module includes multiple photovoltaic panels, and between two photovoltaic panels, they are spliced through a connection bridge. At the splicing position of the connection bridge, there may be some protrusions, resulting in the photovoltaic cleaning robot being unable to pass through smoothly. Or, it may also be that some other external obstacles have fallen on the photovoltaic module, resulting in the photovoltaic cleaning robot being unable to pass through, etc.

[0105] Based on this, when the abnormal type is excessive current, the photovoltaic cleaning robot is controlled to retreat a first set distance to the retreat position point, and then the photovoltaic cleaning robot is controlled to move forward again from the retreat position point and perform the cleaning operation.

[0106] By adopting the method of retreating the photovoltaic cleaning robot a certain distance and then moving forward again, based on the inertia when the photovoltaic cleaning robot is moving, an attempt is made to cross the obstacle.

[0107] In order to further ensure that the obstacle can be crossed smoothly, in this embodiment, in the step of controlling the photovoltaic cleaning robot to move forward again from the retreat position point and perform the cleaning operation, it can be achieved in the following way:

[0108] Obtain the original traveling speed of the photovoltaic cleaning robot before the abnormality occurs, add a set value to the original traveling speed to obtain the updated traveling speed, and control the photovoltaic cleaning robot to start moving forward again from the retreat position point according to the updated traveling speed and perform the cleaning operation.

[0109] In this embodiment, the controller can obtain the position information detected by the position sensor on the photovoltaic cleaning robot within a certain period before the abnormality occurs, and calculate the original traveling speed based on the position information within this period and the duration of this period. The set value can be set based on requirements, and this embodiment does not limit this.

[0110] An updated travel speed is obtained by adding a set value to the original travel speed. The photovoltaic cleaning robot travels at a faster updated travel speed and is more likely to successfully cross the obstacle, thus solving the anomaly.

[0111] Considering that if the obstacle is too large, the photovoltaic cleaning robot may not be able to pass the obstacle even when it retreats a certain distance and then travels again. To avoid the photovoltaic cleaning robot from repeating the operation multiple times, in this embodiment, a preset number of times can be set. When it is determined that there is an abnormal type of excessive current, first, it can be judged whether the number of times of excessive current anomaly at the same abnormal position point is greater than the preset number of times. If it is less than or equal to the preset number of times, the above-mentioned method of retreating a certain distance and then traveling again can be used to solve the anomaly. When it is greater than the preset number of times, control the photovoltaic cleaning robot to retreat to the parking position. Because this indicates that the obstacle may be too large and the above-mentioned method of retreating and then traveling again cannot solve the anomaly. Therefore, the photovoltaic cleaning robot can be controlled to retreat to the parking position and notify the staff to perform anomaly elimination. Among them, the parking position is located at the end of the photovoltaic module, which can be understood as the starting position of the photovoltaic cleaning robot during each cleaning operation.

[0112] For the abnormal type of body tilt, this abnormal type is that the photovoltaic cleaning robot gets stuck due to the tilt of the body. The photovoltaic cleaning robot is mounted on the photovoltaic module and moves along the surface of the photovoltaic module. Assume that the photovoltaic cleaning robot moves from left to right on the photovoltaic module. Under normal circumstances, the travel of the upper and lower ends of the photovoltaic cleaning robot is synchronized. However, if there is an abnormality at one end, it may cause one end to be in front and the other end to be behind. If the gap between the two is too large, resulting in the tilt degree of the body exceeding the allowable degree, the photovoltaic cleaning robot will get stuck and cannot move forward. Therefore, it is necessary to adjust the angle of the body of the photovoltaic cleaning robot to solve this anomaly.

[0113] Based on this consideration, in this embodiment, when the abnormal type is body tilt, control the photovoltaic cleaning robot to retreat a second set distance to the retreat position point, adjust the body angle of the photovoltaic cleaning robot, and then control the photovoltaic cleaning robot to travel forward again from the retreat position point and perform the cleaning operation.

[0114] In this embodiment, first controlling the photovoltaic cleaning robot to retreat a second set distance is to facilitate the adjustment of the body angle and avoid possible obstacles and other factors that may affect the adjustment operation.

[0115] When adjusting the body angle of the photovoltaic cleaning robot, the manual adjustment method or the automatic adjustment method can be adopted.

[0116] In one implementation, a photovoltaic cleaning robot includes two wheels respectively located at two ends of the body of the photovoltaic cleaning robot. The motor includes two motors respectively connected to the respective wheels. That is, the two motors respectively drive the two wheels to move forward.

[0117] When adjusting the body angle of the photovoltaic cleaning robot, it can be achieved in the following way:

[0118] Based on the photoelectric signals detected by each photoelectric sensor in at least one pair of photoelectric sensors, determine the tilting direction of the body. According to the tilting direction, determine the target wheel from the two wheels, and start the motor connected to the target wheel to drive the target wheel to retreat to the position point corresponding to the other wheel.

[0119] In this embodiment, it is described by taking the example that in normal circumstances, neither of the two photoelectric sensors can receive the light reflected by the photovoltaic module. When there is a tilt of the body, for example Figure 4 As shown in the first figure, in this case, the photoelectric sensor A does not receive the light reflected by the photovoltaic module, and the photoelectric sensor B receives the light reflected by the photovoltaic module. It can be determined that the tilting direction of the photovoltaic cleaning robot is tilted to the left. That is, the wheel at the upper end is at the back and the wheel at the lower end is at the front.

[0120] First, control the entire photovoltaic cleaning robot to retreat a certain distance, as Figure 4 shown in the second figure. In order to straighten the body of the photovoltaic cleaning robot, it is necessary to control the wheel in the front, that is, the wheel at the lower end, as the target wheel. Start the motor connected to the wheel at the lower end, so as to drive the wheel at the lower end to retreat to the position point corresponding to the wheel at the upper end, as Figure 4 shown in the third figure. In this way, the body can be straightened.

[0121] In addition, if the situation shown in Figure 5 the first figure occurs, that is, the photoelectric sensor A receives the light reflected by the photovoltaic module, and the photoelectric sensor B does not receive the light reflected by the photovoltaic module. It can be determined that the tilting direction of the photovoltaic cleaning robot is tilted to the right. That is, the wheel at the upper end is at the front and the wheel at the lower end is at the back.

[0122] In this case, similarly, first control the entire photovoltaic cleaning robot to retreat a certain distance, as Figure 5 shown in the second figure, then determine the wheel at the upper end as the target wheel, and start the motor connected to the wheel at the upper end to drive the wheel at the upper end to retreat to the position point corresponding to the wheel at the lower end, as Figure 5 shown in the third figure. In this way, the body angle is straightened.

[0123] It should be noted that the above is only an example. Under normal circumstances, when neither of the two photoelectric sensors can receive the light reflected by the photovoltaic module, the adjustment method is similar to the above method, which will not be elaborated in this embodiment.

[0124] On the basis of straightening the fuselage, control the photovoltaic cleaning robot to move forward again and perform the cleaning operation.

[0125] In addition, considering that for some reasons, such as abnormal wheels or abnormal connection between the motor and the wheels, etc., it may lead to frequent abnormal situations of the fuselage tilting during the cleaning process. In order to avoid that the abnormal situation cannot be completely solved even after multiple adjustments of the fuselage angle, in this embodiment, when an abnormal type of the fuselage tilting occurs, first judge whether the number of times of the abnormal situation of the fuselage tilting is greater than the preset number of times. When the number of times is less than or equal to the preset number of times, the above abnormal handling strategy can be used to handle it. When the number of times is greater than the preset number of times, control the photovoltaic cleaning robot to retreat to the parking position. Because this indicates that the above processing strategy of adjusting the fuselage angle cannot completely solve the abnormality, therefore, control the photovoltaic cleaning robot to stop moving forward and retreat to the parking position. Notify the staff to conduct an abnormal investigation to completely solve the abnormality.

[0126] In order to enable those skilled in the art to have a clearer understanding of the abnormal handling method provided in this embodiment, the following combines Figure 6 as shown in, to illustrate the overall processing logic of the abnormal handling method in this embodiment.

[0127] During the startup and cleaning process of the photovoltaic cleaning robot, the controller continuously obtains the device information of each machine device in the photovoltaic cleaning robot.

[0128] Among them, the device information includes the operating state information of the motor, the operating current of the motor detected by the ammeter, the photoelectric signal detected by the photoelectric sensor at the bottom of the fuselage, the position information detected by the position sensor, etc.

[0129] Based on the device information of the machine device, judge whether the photovoltaic cleaning robot has an abnormality. For example, it can be judged whether there is an abnormality based on the position information detected by the position sensor, or based on the operating state information of the motor, the operating current detected by the ammeter, and the photoelectric signal detected by the photoelectric sensor.

[0130] When it is determined that the photovoltaic cleaning robot has an abnormality, determine the specific abnormal type based on the device information. For example, if the operating state information of the motor includes an error message, the abnormal type is a motor failure; if the operating current exceeds the preset current, the abnormal type is an overcurrent; if the photoelectric signals detected by a pair of photoelectric sensors are inconsistent, the abnormal type is a fuselage tilt.

[0131] Among them, when the abnormal type is motor failure, it is judged whether the number of motor failures is greater than a preset number. If it is greater than the preset number, the photovoltaic cleaning robot is controlled to stop and an alarm message is sent. If the number of motor failures is less than or equal to the predicted number, the motor is powered off and restarted after a preset duration to continue moving forward.

[0132] When the abnormal type is excessive current, it is judged whether the number of occurrences of excessive current at the same abnormal position point is greater than a preset number. If it is greater than the preset number, the photovoltaic cleaning robot is controlled to retreat to the parking position and the staff is notified. If the number of abnormalities is less than or equal to the preset number, the photovoltaic cleaning robot is controlled to retreat a first set distance and then continue moving forward again.

[0133] When the abnormal type is the tilt of the fuselage, it is judged whether the number of abnormalities of the tilt of the fuselage is greater than a preset number. If it is greater than the preset number, the photovoltaic cleaning robot is controlled to retreat to the parking position and the staff is notified. If the number of abnormalities is less than or equal to the preset number, the tilt direction of the fuselage is determined according to the optoelectronic signals detected by each of a pair of optoelectronic sensors.

[0134] If the fuselage tilts to the left (taking Figure 4 as an example), after controlling the photovoltaic cleaning robot to retreat as a whole by a second set distance, the motor connected to the lower wheels is started to drive the lower wheels to retreat to the position points corresponding to the upper wheels to straighten the fuselage.

[0135] If the fuselage tilts to the right (taking Figure 5 as an example), after controlling the photovoltaic cleaning robot to retreat as a whole by a second set distance, the motor connected to the upper wheels is started to drive the upper wheels to retreat to the position points corresponding to the lower wheels to straighten the fuselage.

[0136] The abnormal handling method provided in this embodiment can accurately detect and determine the abnormal type by analyzing different reasons for carding, and then adopt different abnormal handling strategies for different abnormal types, which can efficiently solve abnormalities and troubleshoot faults. The whole process adopts intelligent decision-making, can automatically handle faults, quickly resume normal operation, improves the reliability of machine operation, and reduces human intervention.

[0137] Please refer to Figure 7 , this embodiment of the present invention also provides an abnormal handling device, which can be applied to perform abnormal handling on a photovoltaic cleaning robot, and the device can be implemented by software and / or hardware and is generally integrated in the control system of the photovoltaic cleaning robot.

[0138] Such as Figure 7As shown in the figure, the exception handling device includes an acquisition module 11, a judgment module 12, a determination module 13, and a processing module 14. The functions of each functional module of the exception handling device will be elaborated in detail below.

[0139] The acquisition module 11 is configured to acquire the device information of each machine device during the cleaning process of the photovoltaic cleaning robot;

[0140] The judgment module 12 is configured to judge whether the photovoltaic cleaning robot has an exception based on the acquired device information;

[0141] The determination module 13 is configured to determine the type of exception that occurs according to the device information in the case where it is determined that the photovoltaic cleaning robot has an exception;

[0142] The processing module 14 is configured to determine the corresponding exception handling strategy according to the type of exception, and control the photovoltaic cleaning robot based on the exception handling strategy.

[0143] As a possible implementation manner, the machine device includes a motor, an ammeter, and a photoelectric sensor. The ammeter is configured to detect the operating current of the motor. The photoelectric sensor includes at least one pair, and at least one pair of photoelectric sensors is arranged at the bottom of the fuselage of the photovoltaic cleaning robot. The above determination module 13 may be configured to:

[0144] Determine the type of exception that occurs based on the operating state information of the motor, the operating current detected by the ammeter, and the photoelectric signals detected by at least one pair of photoelectric sensors.

[0145] As a possible implementation manner, the above determination module 13 may specifically be configured to:

[0146] When the operating state information of the motor includes an error message, determine that the type of exception that occurs is a motor failure;

[0147] When the operating current detected by the ammeter exceeds the preset current, determine that the type of exception that occurs is excessive current;

[0148] For each pair of photoelectric sensors in at least one pair of photoelectric sensors, when the photoelectric signals detected by the two photoelectric sensors in each pair of photoelectric sensors are inconsistent, determine that the type of exception that occurs is the fuselage tilt.

[0149] As a possible implementation manner, the above processing module 14 may be configured to:

[0150] When the type of exception is a motor failure, judge whether the number of times of the exception of the motor failure is greater than the preset number of times;

[0151] When it is greater than the preset number of times, control the photovoltaic cleaning robot to stop and send an alarm message;

[0152] When the power of the motor is cut off within a number of times less than or equal to a preset number of times, the motor is restarted after an interval of a preset duration, and the photovoltaic cleaning robot is controlled to continue moving forward and perform a cleaning operation.

[0153] As a possible implementation manner, the above processing module 14 can be used for:

[0154] When the abnormal type is excessive current, it is judged whether the number of times of excessive current at the same abnormal position point is greater than a preset number of times;

[0155] When it is greater than the preset number of times, the photovoltaic cleaning robot is controlled to retreat to the parking position;

[0156] When it is less than or equal to the preset number of times, the photovoltaic cleaning robot is controlled to retreat a first set distance to the retreat position point, and then the photovoltaic cleaning robot is controlled to move forward again from the retreat position point and perform a cleaning operation.

[0157] As a possible implementation manner, the above processing module 14 can specifically be used for:

[0158] Obtain the original traveling speed of the photovoltaic cleaning robot before an abnormality occurs, and add a set value to the original traveling speed to obtain an updated traveling speed;

[0159] Control the photovoltaic cleaning robot to move forward again from the retreat position point at the updated traveling speed and perform a cleaning operation.

[0160] As a possible implementation manner, the above processing module 14 can be used for:

[0161] When the abnormal type is the inclination of the fuselage, it is judged whether the number of times of the abnormal inclination of the fuselage is greater than a preset number of times;

[0162] When it is greater than the preset number of times, the photovoltaic cleaning robot is controlled to retreat to the parking position;

[0163] When it is less than or equal to the preset number of times, the photovoltaic cleaning robot is controlled to retreat a second set distance to the retreat position point, adjust the fuselage angle of the photovoltaic cleaning robot, and then control the photovoltaic cleaning robot to move forward again from the retreat position point and perform a cleaning operation.

[0164] As a possible implementation manner, the photovoltaic cleaning robot includes two wheels respectively located at both ends of the fuselage of the photovoltaic cleaning robot, and the motor includes two motors respectively connected to each wheel;

[0165] The above processing module 14 can specifically be used for:

[0166] Determine the inclination direction of the fuselage based on the photoelectric signals detected by each photoelectric sensor in at least one pair of photoelectric sensors;

[0167] Determine a target wheel from two wheels according to the inclination direction;

[0168] Start the motor connected to the target wheel to drive the target wheel to reverse to the position point corresponding to the other wheel.

[0169] The implementation processes of the functions and roles of each module in the above device are specifically described in the implementation processes of the corresponding steps in the above method, which will not be elaborated here.

[0170] Figure 8 It is a schematic structural diagram of a photovoltaic cleaning robot provided by an embodiment of the present invention. As Figure 8 shown, the photovoltaic cleaning robot includes one or more processors 21 and a storage device 22; the processors 21 in the device can be one or more, Figure 8 and one processor 21 is taken as an example here; the storage device 22 is used to store one or more programs; the one or more programs are executed by the one or more processors 21, so that the one or more processors 21 implement the exception handling method in any one of the embodiments of the present invention.

[0171] The photovoltaic cleaning robot may further include an input device 23. In addition, the photovoltaic cleaning robot may further include other machine devices, such as the above-mentioned motor, ammeter, photoelectric sensor, etc.

[0172] The processor 21, storage device 22, and input device 23 in the photovoltaic cleaning robot can be connected through a bus or other means, Figure 8 and taking the connection through a bus as an example here.

[0173] The storage device 22 in the device, as a computer-readable storage medium, can be used to store one or more programs, and the programs can be software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the exception handling method provided by the embodiment of the present invention. The processor 21 executes various functional applications and data processing of the robot by running the software programs, instructions, and modules stored in the storage device 22, that is, implements the exception handling method in the above method embodiment.

[0174] The storage device 22 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the device, etc. In addition, the storage device 22 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0175] In some examples, the storage device 22 may further include memories remotely located with respect to the processor 21, and these remote memories may be connected to the device through a network. Examples of the above-mentioned network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.

[0176] The input device 23 can be used to receive input digital or character information and generate key signal inputs related to the user settings and function controls of the device.

[0177] Moreover, when one or more programs included in the above-mentioned device are executed by one or more processors 21, the programs perform the following operations:

[0178] During the cleaning process of the photovoltaic cleaning robot, obtain the device information of each machine device;

[0179] Based on the obtained device information, determine whether the photovoltaic cleaning robot has an abnormality;

[0180] In the case where it is determined that the photovoltaic cleaning robot has an abnormality, determine the type of abnormality that has occurred according to the device information;

[0181] Determine the corresponding abnormality handling strategy according to the type of abnormality, and control the photovoltaic cleaning robot based on the abnormality handling strategy.

[0182] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by the processor 21, it is used to execute an abnormality handling method, and the method includes:

[0183] During the cleaning process of the photovoltaic cleaning robot, obtain the device information of each machine device;

[0184] Based on the obtained device information, determine whether the photovoltaic cleaning robot has an abnormality;

[0185] In the case where it is determined that the photovoltaic cleaning robot has an abnormality, determine the type of abnormality that has occurred according to the device information;

[0186] Determine the corresponding abnormality handling strategy according to the type of abnormality, and control the photovoltaic cleaning robot based on the abnormality handling strategy.

[0187] Optionally, when the program is executed by the processor 21, it can also be used to execute the abnormality handling method provided in any embodiment of the present invention.

[0188] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable media may be computer-readable signal media or computer-readable storage media. The computer-readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of the computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fibers, portable CD-ROMs, optical storage devices, magnetic storage devices, or any suitable combination of the above. The computer-readable storage media may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component.

[0189] The computer-readable signal media may include data signals propagated in a baseband or as part of a carrier wave, which carry computer-readable program codes. Such propagated data signals may take various forms, including but not limited to: electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal media may also be any computer-readable media other than the computer-readable storage media, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or component.

[0190] The program codes contained on the computer-readable media may be transmitted by any suitable media, including but not limited to: wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the above.

[0191] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0192] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments may be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An exception handling method, characterized in that: Applied to a photovoltaic cleaning robot, the photovoltaic cleaning robot includes a plurality of machine devices, and the method includes: During the cleaning process of the photovoltaic cleaning robot, obtaining equipment information of each of the machines and equipment; Determining whether the photovoltaic cleaning robot is abnormal based on the obtained device information; In the case where it is determined that the photovoltaic cleaning robot has an abnormality, determining the type of abnormality that has occurred according to the device information; A corresponding exception handling strategy is determined according to the exception type, and the photovoltaic cleaning robot is controlled based on the exception handling strategy.

2. The exception handling method according to claim 1, characterized in that: The machine equipment includes a motor, an ammeter and a photoelectric sensor, the ammeter is used to detect the running current of the motor, and the photoelectric sensor includes at least one pair, and at least one pair of photoelectric sensors is arranged at the bottom of the body of the photovoltaic cleaning robot; The step of determining the type of abnormality that occurs according to the device information includes: The type of abnormality that occurs is determined based on the operating state information of the motor, the operating current detected by the ammeter, and the photoelectric signal detected by the at least one pair of photoelectric sensors.

3. The exception handling method according to claim 2, characterized in that: The step of determining the type of abnormality that occurs based on the running state information of the motor, the running current detected by the ammeter, and the photoelectric signal detected by the at least one pair of photoelectric sensors comprises: In the case where the running status information of the motor includes error information, determining that the abnormality type that occurs is a motor failure; When the operating current detected by the ammeter exceeds the preset current, determining that the abnormality type is excessive current; For each pair of the at least one pair of photoelectric sensors, when the photoelectric signals detected by the two photoelectric sensors in each pair of photoelectric sensors are inconsistent, it is determined that the abnormality type that has occurred is the tilt of the fuselage.

4. The exception handling method according to claim 2, characterized in that: The abnormality type includes a motor failure, and the step of controlling the photovoltaic cleaning robot based on the abnormality handling strategy includes: In the case where the abnormality type is a motor failure, determining whether the number of times the motor failure abnormality occurs is greater than a preset number; When the number of times exceeds the preset number, the photovoltaic cleaning robot is controlled to stop and an alarm message is issued; When the number is less than or equal to the preset number, the motor is powered off, and after a preset time interval, the motor is restarted, and the photovoltaic cleaning robot is controlled to continue moving and performing cleaning operations.

5. The exception handling method according to claim 2, characterized in that: The abnormality type includes excessive current, and the step of controlling the photovoltaic cleaning robot based on the abnormality handling strategy includes: In the case where the abnormality type is excessive current, determining whether the number of times the abnormality of excessive current occurs at the same abnormal location point is greater than a preset number; When the number of times exceeds the preset number, controlling the photovoltaic cleaning robot to return to a parking position; When the number of times is less than or equal to the preset number, the photovoltaic cleaning robot is controlled to retreat a first set distance to a retreat position point, and then the photovoltaic cleaning robot is controlled to move forward again from the retreat position point and perform a cleaning operation.

6. The exception handling method according to claim 5, characterized in that: The step of controlling the photovoltaic cleaning robot to move forward again from the retreat position and perform a cleaning operation comprises: Obtaining an original travel speed of the photovoltaic cleaning robot before the abnormality occurs, and adding a set value to the original travel speed to obtain an updated travel speed; The photovoltaic cleaning robot is controlled to move forward again from the retreat position point according to the updated travel speed and perform a cleaning operation.

7. The exception handling method according to claim 2, characterized in that: The abnormality type includes body tilt, and the step of controlling the photovoltaic cleaning robot based on the abnormality handling strategy includes: In the case where the abnormality type is fuselage tilt, determining whether the number of occurrences of the abnormality of fuselage tilt is greater than a preset number; When the number of times exceeds the preset number, controlling the photovoltaic cleaning robot to return to a parking position; When the number is less than or equal to the preset number, the photovoltaic cleaning robot is controlled to retreat a second set distance to the retreat position point, the body angle of the photovoltaic cleaning robot is adjusted, and then the photovoltaic cleaning robot is controlled to move forward again from the retreat position point and perform the cleaning operation.

8. The exception handling method according to claim 7, characterized in that: The photovoltaic cleaning robot comprises two wheels respectively located at two ends of the body of the photovoltaic cleaning robot, and the motor comprises two motors respectively connected to the wheels; The step of adjusting the body angle of the photovoltaic cleaning robot comprises: determining a tilt direction of the fuselage based on a photoelectric signal detected by each of the photoelectric sensors in the at least one pair of photoelectric sensors; Determine a target wheel from the two wheels according to the tilt direction; A motor connected to the target wheel is started to drive the target wheel back to a position point corresponding to another wheel.

9. An exception handling device, characterized in that: Applied to a photovoltaic cleaning robot, the photovoltaic cleaning robot includes a plurality of machine devices, and the device includes: An acquisition module, used for acquiring device information of each of the machine devices during the cleaning process of the photovoltaic cleaning robot; A judgment module, used for judging whether the photovoltaic cleaning robot is abnormal based on the obtained device information; A determination module, configured to determine the type of abnormality that occurs according to the device information when it is determined that the photovoltaic cleaning robot has an abnormality; A processing module is used to determine a corresponding exception handling strategy according to the exception type, and control the photovoltaic cleaning robot based on the exception handling strategy.

10. A photovoltaic cleaning robot, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

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