Transfer control method and system of cleaning machine and photovoltaic cleaning equipment

Abstract

The invention discloses a transfer control method and system of a sweeping machine and photovoltaic sweeping equipment. The method comprises the steps that a mechanical arm controls a grabbing clamp to stably clamp a grabbed structure on the sweeping machine; the grabbed structure is fixedly arranged at the position, close to the front guide wheel, of the sweeping machine, so that the grabbing and hoisting gravity center of the sweeping machine is located between the grabbed structure and the rear guide wheel. The mechanical arm is controlled to drive the grabbing clamp to lift up the upper end of the sweeper; at the moment, the rear guide wheel is clamped with the lower edge of the first photovoltaic module; after the front guide wheel is separated from the upper edge of the first photovoltaic module, the rear guide wheel is used as a rotating fulcrum to perform fan-shaped rotating movement until the upper end of the sweeper is completely separated from the first photovoltaic module; and the mechanical arm is controlled to drive the whole sweeper to move in the specified direction, so that the rear guide wheel is separated from the lower edge of the first photovoltaic module. The stable grabbing and putting-down process of the sweeper is achieved through the single grabbing hand, and the sweeper has the advantages in the aspects of structure, cost and flexibility.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic cleaning, and in particular, to a transfer control method and system for a cleaning machine and a photovoltaic cleaning device. Background Art

[0002] In heavy object handling, especially when transferring a vehicle-mounted photovoltaic cleaning machine, the structure of transfer robots in general technologies usually has at least two grippers. For heavier objects, double grippers can provide a larger contact area, reduce the pressure per unit area, and make the object less likely to slide. Double grippers can simultaneously perform multi-point positioning and fixation on the object, reducing the shaking and displacement of the object during the grasping process, thereby improving the grasping accuracy. For example, when facing a long-strip object such as a photovoltaic cleaning machine, the double grippers can respectively grasp both ends to keep it horizontal; however, the structure of double grippers is more complex, with higher manufacturing and maintenance costs. In a space-constrained situation, double grippers require more space to operate and may not be able to work flexibly in a narrow or complex environment. Replacing double grippers with a single gripper in the scenario of transferring a photovoltaic cleaning machine may be a more economical choice. Summary of the Invention

[0003] To solve the above technical problems, the present application discloses a transfer control method and system for a cleaning machine and a photovoltaic cleaning device, which achieve a stable grasping and releasing process of the cleaning machine through a single gripper. Specifically, the technical solution of the present application is as follows:

[0004] In a first aspect, the present application discloses a transfer control method for a cleaning machine, including the following steps:

[0005] The transfer robot runs to a first position corresponding to the starting point of the cleaning machine, and the gripper is stably clamped on the grabbed structure on the cleaning machine through the robotic arm; the grabbed structure is fixedly arranged on the cleaning machine at a position close to the front guide wheel, so that the lifting and hanging center of gravity of the cleaning machine is located between the grabbed structure and the rear guide wheel;

[0006] The robotic arm is controlled to drive the gripper to lift the upper end of the cleaning machine; at this time, the rear guide wheel is clamped with the lower edge of the first photovoltaic module; when the front guide wheel disengages from the upper edge of the first photovoltaic module, with the rear guide wheel as the rotation fulcrum, the robotic arm grabs the cleaning machine and performs a fan-shaped rotational movement around the rotation fulcrum until the upper end of the cleaning machine completely disengages from the first photovoltaic module;

[0007] The robotic arm is controlled to drive the entire cleaning machine to move in a specified direction, so that the rear guide wheel disengages from the lower edge of the first photovoltaic module.

[0008] In some embodiments, the transfer control method for a cleaning machine further includes:

[0009] The transfer robot grips the sweeper and moves it to a second position corresponding to the transfer destination.

[0010] Identify the second photovoltaic module area through the vehicle-mounted vision module, and control the robotic arm to adjust the rear guide wheel of the sweeper to contact the lower edge of the second photovoltaic module.

[0011] Using the contact point between the rear guide wheel and the lower edge of the second photovoltaic module as a fulcrum, control the robotic arm to drive the sweeper to slowly lower the front guide wheel until the sweeper is substantially parallel to the second photovoltaic module.

[0012] Adjust the position of the sweeper so that the front guide wheel and the rear guide wheel are respectively aligned with the upper edge and the lower edge of the second photovoltaic module; after alignment, control the gripper to release the grabbed structure so that the sweeper can perform the cleaning work independently.

[0013] In some embodiments, the transfer robot runs to a first position corresponding to the starting point where the sweeper is located, and the robotic arm is controlled to stably grip the grabbed structure on the sweeper, specifically including:

[0014] Obtain the starting position of the sweeper through the positioning information in cooperation with the vehicle-mounted vision module, and control the transfer robot to run to the first position corresponding to the starting position.

[0015] Control the robotic arm to lower the gripper; at the same time, the vehicle-mounted vision module collects the image of the sweeper, so as to judge the relative position between the gripper and the grabbed structure and adjust the alignment.

[0016] When the gripper is aligned with the grabbed structure, the gripper closes, and the first sensing data collected by the gripper sensor is obtained to judge whether the gripper is completely closed.

[0017] In some embodiments, the grabbed structure is fixed at the one-third position of the sweeper close to the front guide wheel.

[0018] In some embodiments, the method of controlling the robotic arm to drive the gripper to lift the upper end of the sweeper specifically includes:

[0019] Control the robotic arm to drive the sweeper to move forward.

[0020] Obtain the second sensing data collected by the gripper sensor and / or the sweeper sensor, and judge whether the rear guide wheel is engaged with the lower edge of the first photovoltaic module.

[0021] Control the robotic arm to slowly retract, keep the clamping position of the rear guide wheel and the lower edge of the first photovoltaic module unchanged, and slowly lift the upper end of the sweeper.

[0022] In some embodiments, controlling the robotic arm to drive the sweeper to move in a specified direction as a whole, so that the rear guide wheel disengages from the lower edge of the first photovoltaic module specifically includes:

[0023] Control the robotic arm to drive the sweeper to move away from the first photovoltaic module;

[0024] Obtain the third sensing data collected by the sweeper sensor, and judge whether the sweeper is completely disengaged from the first photovoltaic module.

[0025] In a second aspect, the present application discloses a transfer control system for a sweeper, and the control system is used to execute the steps of the transfer control method of the sweeper in any one of the above embodiments; it includes a movement control module and a robotic arm control module;

[0026] The movement control module is used to control the transfer robot to run to the first position corresponding to the starting point where the sweeper is located;

[0027] The robotic arm control module is used to stably hold the grabbed structure on the sweeper through the robotic arm control gripper; it is also used to lift the upper end of the sweeper by controlling the robotic arm to drive the gripper; at this time, the rear guide wheel is clamped with the lower edge of the first photovoltaic module; when the front guide wheel disengages from the upper edge of the first photovoltaic module, with the rear guide wheel as the rotation fulcrum, the robotic arm grabs the sweeper and rotates in a fan shape around the rotation fulcrum until the upper end of the sweeper is completely disengaged from the first photovoltaic module; it is also used to control the robotic arm to drive the sweeper to move in a specified direction as a whole, so that the rear guide wheel disengages from the lower edge of the first photovoltaic module.

[0028] In some embodiments, the transfer control system for a sweeper further includes:

[0029] A vehicle-mounted vision module, which is used to collect environmental images and identify the positions of the target photovoltaic module, the sweeper, the gripper, and the grabbed structure through image matching;

[0030] A data transceiver module, which is used to receive the sensing data collected by the gripper sensor and / or the sweeper sensor;

[0031] The robotic arm control module is also used to generate an instruction for controlling the robotic arm based on the result of vision recognition and the sensing data.

[0032] In some embodiments, the movement control module is further configured to control the transfer robot to grip the sweeper and move it to a second position corresponding to the transfer destination.

[0033] The vehicle-mounted vision module is further configured to identify a second photovoltaic module area and control the robotic arm to adjust the rear guide wheel of the sweeper to contact the lower edge of the second photovoltaic module.

[0034] The robotic arm control module is further configured to use the contact point between the rear guide wheel and the lower edge of the second photovoltaic module as a fulcrum, and control the robotic arm to drive the sweeper to slowly lower the front guide wheel until the sweeper is substantially parallel to the second photovoltaic module.

[0035] The robotic arm control module is further configured to adjust the position of the sweeper so that the front guide wheel and the rear guide wheel are respectively aligned with the upper edge and the lower edge of the second photovoltaic module; after the alignment is completed, control the gripper to release the grasped structure so that the sweeper can independently perform the cleaning work.

[0036] In a third aspect, the present application also discloses a photovoltaic cleaning device, including a transfer robot and a sweeper;

[0037] The sweeper is used to independently complete the cleaning work of the photovoltaic module; the transfer robot is used to transfer the sweeper to move between different photovoltaic modules;

[0038] The transfer robot includes: a robot body, a moving component, a robotic arm, a gripper, a gripper sensor; and also includes the transfer control system of the sweeper in any of the above embodiments.

[0039] The sweeper includes a sweeper body, a front guide wheel, a rear guide wheel, a grasped structure, a sweeper sensor, and a wireless communication component.

[0040] Compared with the prior art, the present application has at least one of the following beneficial effects:

[0041] Compared with using a double gripper to transfer the sweeper in the prior art, the present application realizes the stable grasping and lowering process of the sweeper through the control of a single gripper. The robotic arm structure is simpler, reducing the equipment cost. In some scenarios with limited space, the single gripper is more flexible and can also achieve the stable transfer of the sweeper. In addition, the transfer solution of this scheme uses the upper and lower edges of the photovoltaic module as the fulcrums. The upper and lower edges have a larger recognition target and clear features. The grasping and placing processes are both simple in positioning, and the upper and lower edges of the metal frame are not likely to damage the photovoltaic module. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The following will further illustrate the above characteristics, technical features, advantages and their implementation manners of the present application in a clear and understandable manner in combination with the accompanying drawings.

[0043] Figure 1 It is a flowchart of the steps of an embodiment of a transfer control method for a sweeper of the present application;

[0044] Figure 2 It is a reference schematic diagram of the clamped state of the guide wheel and the component of the sweeper in the embodiment of the present application;

[0045] Figure 3 It is a reference schematic diagram of the upper end of the sweeper being lifted and the lower edge of the clamping component in the embodiment of the present application;

[0046] Figure 4 It is a reference schematic diagram of the sweeper completely leaving the edge of the component in the embodiment of the present application;

[0047] Figure 5 It is a flowchart of the steps of another embodiment of a transfer control method for a sweeper of the present application. Specific Embodiments

[0048] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0049] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0050] For the sake of simplicity of the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product as a whole. Additionally, for the sake of simplicity and easy understanding of the drawings, in some figures, components with the same structure or function are only schematically shown for one of them, or only one of them is marked. In this document, "one" not only means "only this one", but also can mean the case of "more than one".

[0051] It should be further understood that the term "and / or" used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0052] In this text, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0053] In specific implementations, the terminal devices described in the embodiments of this application include, but are not limited to, other portable devices such as mobile phones, laptop computers, tutoring machines, or tablet computers having a touch-sensitive surface (e.g., a touch screen display and / or a touchpad). It should also be understood that in some embodiments, the terminal device is not a portable communication device, but a desktop computer having a touch-sensitive surface (e.g., a touch screen display and / or a touchpad).

[0054] In addition, in the description of this application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0055] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will describe the specific implementation manners of this application with reference to the accompanying drawings. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings, and other implementation manners can also be obtained.

[0056] In current vehicle-mounted sweepers, the grasping structures of the sweepers all have at least two grippers. This text proposes a grasping solution with a single gripper. Referring to the attached Figure 1 As shown in the drawings, an embodiment of a transfer control method for a sweeper in this application specifically includes the following steps:

[0057] S110, the transfer robot runs to a first position corresponding to the starting point of the sweeper, and stably holds the grasped structure on the sweeper through the robotic arm control gripper; the grasped structure is fixedly arranged at a position on the sweeper close to the front guide wheel, so that the lifting and hanging center of gravity of the sweeper is between the grasped structure and the rear guide wheel.

[0058] Specifically, visually determine that the sweeper is within the target range until it runs to the target corresponding position of the sweeper and stops running. The robotic arm starts to act, combines image matching, lowers the gripper, and aligns it with the grasped structure of the sweeper. After alignment, the grasping structure closes, successfully grasps the sweeper and makes a confirmation.

[0059] The grabbed structure is fixedly arranged on the sweeper at a position close to the front guide wheel, so that one side of the sweeper close to the front guide wheel is easier to be lifted, and one side of the sweeper close to the rear guide wheel is more likely to be in a vertical state under the action of gravity, saving the force applied by the robotic arm.

[0060] S120, controlling the robotic arm to drive the gripper to lift the upper end of the sweeper; at this time, the rear guide wheel is clamped with the lower edge of the first photovoltaic module; when the front guide wheel disengages from the upper edge of the first photovoltaic module, taking the rear guide wheel as the rotation fulcrum, the robotic arm grabs the sweeper and performs a fan-shaped rotational movement around the rotation fulcrum until the upper end of the sweeper completely disengages from the first photovoltaic module;

[0061] Specifically, the robotic arm moves forward, confirms that the rear guide wheel under the sweeper is stuck to the edge of the module, and stops when the sweeper can no longer move upward. The purpose is that the rear guide wheel is stuck to the edge of the module and the front guide wheel disengages from the edge of the module; for the clamping states of the front guide wheel and rear guide wheel of the sweeper with the module, refer to the attached Figure 2 shown in the figure. After the rear guide wheel is successfully clamped, the robotic arm slowly retracts, and performs a fan-shaped rotational movement around the contact position point between the rear guide wheel and the photovoltaic module, and the upper end of the sweeper is slowly lifted upward. When the upper end of the sweeper completely disengages from the module and the lower end still leans against the module, the state refers to the attached Figure 3 shown in the figure.

[0062] S130, controlling the robotic arm to drive the whole sweeper to move in a specified direction, so that the rear guide wheel disengages from the lower edge of the first photovoltaic module.

[0063] Specifically, the robotic arm moves backward and stops when the rear guide wheel of the sweeper leaves the edge of the module. The purpose is that the rear guide wheel also disengages from the edge of the module. At this time, the whole sweeper disengages from the module, and the state refers to the attached Figure 4 shown in the figure. The robotic arm continues to retract, maintaining a safe distance between the sweeper and the photovoltaic module all the time. The transfer robot moves in the direction of the destination to continue to perform the sweeping task.

[0064] In an implementation manner of this embodiment, the grabbed structure is located at a position between the center of the sweeper and the front guide wheel;

[0065] Specifically, taking the double-module bracket system as an example, the corresponding sweeper is longer and is in an overall strip shape. The position of the grabbed structure is on the side close to the front guide wheel; the first distance between the grabbed structure and the front guide wheel is less than the second distance between the grabbed structure and the rear guide wheel. In this way, when performing a fan-shaped rotational movement around the contact position point between the rear guide wheel and the photovoltaic module, the fan-shaped rotation radius is larger, and the robotic arm can achieve the rotation of the sweeper with a smaller force.

[0066] Preferably, in another implementation of this embodiment, the structure to be grabbed is fixed at the one-third position of the sweeper near the front guide wheel.

[0067] Another embodiment of a transfer control method for a sweeper is provided in this application. Based on any of the above embodiments of the method, referring to the attached drawings of the specification Figure 4 as shown, further includes:

[0068] S210, the transfer robot clamps the sweeper and moves it to the second position corresponding to the transfer destination.

[0069] Specifically, the sweeper is close to the second photovoltaic module. The position of the module is judged through the data transceiver module and the vehicle-mounted vision module, and it stops at a suitable position near the second photovoltaic module.

[0070] S220, identify the area of the second photovoltaic module through the vehicle-mounted vision module, and control the robotic arm to adjust the rear guide wheel of the sweeper to contact the lower edge of the second photovoltaic module.

[0071] Specifically, the lower part of the sweeper contacts the module. The lower part of the sweeper slowly slides down under the action of the rear guide wheel until the rear guide wheel contacts the lower edge of the second photovoltaic module.

[0072] S230, taking the contact point between the rear guide wheel and the lower edge of the second photovoltaic module as the fulcrum, control the robotic arm to drive the sweeper to slowly lower the front guide wheel until the sweeper is substantially parallel to the second photovoltaic module.

[0073] Specifically, the robotic arm slowly lowers the grabbing structure, that is, slowly lowers the upper part of the sweeper. The robotic arm moves until the upper end of the sweeper also contacts the module.

[0074] S240, adjust the position of the sweeper so that the front guide wheel and the rear guide wheel are respectively aligned with the upper edge and the lower edge of the second photovoltaic module; after the alignment is completed, control the gripper to release the structure to be grabbed so that the sweeper can perform the cleaning work independently.

[0075] Specifically, the robotic arm descends until the front guide wheel of the sweeper stops near the upper edge of the module, aiming to ensure that the front guide wheel catches the upper edge of the module. Confirm that the upper and lower ends of the sweeper are aligned with the upper and lower edges of the module, and the position of the sweeper can be adjusted by moving. After confirming that the front guide wheel catches the upper edge, the gripper opens, the sweeper is lowered, and the robotic arm retracts. After receiving the work instruction, the transfer robot and the sweeper continue the cleaning work.

[0076] Based on the above embodiments, another embodiment of a transfer control method for a sweeper is disclosed in this application. The step S110 specifically includes the following sub-steps:

[0077] S111. Obtain the starting position where the sweeper is located through the positioning information in cooperation with the vehicle-mounted vision module, and control the transfer robot to run to the first position corresponding to the starting position.

[0078] Specifically, the transfer robot starts and maintains communication with the sweeper through the data transceiver module. The sweeper feeds back its current starting position to the transfer robot so that the transfer robot can reach near the sweeper. During the walking process, the transfer robot obtains the running distance of the sweeper through communication and continues to run until it confirms that it has reached near the sweeper.

[0079] After reaching near the sweeper, control the vehicle-mounted vision module to collect images within the 120° range of the camera field of view directly in front of the transfer robot, and determine whether the sweeper is within the target range through vision. If it is not within the target range, adjust the camera angle until the sweeper is found in the camera target view.

[0080] After finding the sweeper, the transfer robot stops, and the position where the transfer robot stops is the first position corresponding to the starting position.

[0081] S112. Control the robotic arm to lower the gripper; at the same time, the vehicle-mounted vision module collects images of the sweeper, thereby judging the relative position between the gripper and the structure to be grabbed and adjusting the alignment.

[0082] Specifically, in an implementation manner of this embodiment, after the transfer robot stops, start the vehicle-mounted vision module to start image matching, adjust the gripper (grabbing structure) to align with the structure to be grabbed by the sweeper, and control the robotic arm to lower the gripper.

[0083] In another implementation manner of this embodiment, during the grabbing process, generate commands to control or adjust the robotic arm based on the results of vision recognition and sensing data.

[0084] Preferably, the gripper includes an upper structure, a lower structure and gripper sensors; the gripper sensors include one or more of a pressure sensor, a proximity sensor, and a friction sensor.

[0085] The gripper sensors continuously sense the structure to be grabbed. If the upper structure detects the structure to be grabbed and the lower structure does not, the transfer robot controls the robotic arm to parallelly raise the gripper until both the upper and lower structures detect the structure to be grabbed; if the lower structure detects the structure to be grabbed and the upper structure does not, the transfer robot controls the robotic arm to parallelly lower the gripper until both the upper and lower structures detect the structure to be grabbed.

[0086] During the sensing process of the gripper, the transfer robot continues to lower the gripper until both the upper and lower structures sense the structure to be grabbed, then the grabbing structure stops lowering and starts to close.

[0087] S113. After the gripper is aligned with the structure to be gripped, the gripper closes, and first sensing data collected by a gripper sensor is obtained to determine whether the gripper has completed closing.

[0088] Specifically, the gripper sensor includes one or more of a pressure sensor, a proximity sensor, and a friction sensor. In an implementation manner of this embodiment, the first sensing data is pressure sensing data, and the sensing data is continuously monitored during the closing process. When the closing pressure sensed by the gripper exceeds a first pressure set value, it can be determined that the gripping structure has completed closing.

[0089] In another implementation manner of this embodiment, the first sensing data is resistance sensing data, and the sensing data is continuously monitored during the closing process. When the closing resistance sensed by the gripper motor exceeds a first resistance set value, it can be determined that the gripping structure has completed closing.

[0090] Based on the above embodiments, another embodiment of a transfer control method for a sweeper disclosed in this application, the step S120 specifically includes the following sub-steps:

[0091] S121. Control the robotic arm to drive the sweeper to move forward.

[0092] Specifically, the robotic arm drives the sweeper to move forward to disengage the front guide wheel of the sweeper from the upper edge of the component and to catch the lower edge of the component with the rear guide wheel. The moving direction can be parallel to the plane of the photovoltaic module, with the principle of not touching the photovoltaic module. Preferably, after the transfer robot grips the sweeper, the robotic arm drives the entire sweeper to move in a plane parallel to the first photovoltaic module panel and in the directly forward direction perpendicular to the lower edge (i.e., in the obliquely upward direction parallel to the initial pose of the sweeper). At this time, the front guide wheel of the sweeper disengages from the upper edge of the component, and the rear guide wheel catches the lower edge of the component. The engagement state of the sweeper guide wheel with the component refers to the attached Figure 2 as shown in the specification.

[0093] S122. Obtain second sensing data collected by the gripper sensor and / or the sweeper sensor to determine whether the rear guide wheel has completed catching the lower edge of the first photovoltaic module.

[0094] In an implementation manner of this embodiment, it is determined whether the rear guide wheel has completed catching the lower edge of the first photovoltaic module through the sensing data collected by the gripper sensor. Specifically, the gripper sensor includes a resistance sensor. When the friction resistance sensed by the gripper motor exceeds a second resistance set value, it can be determined that the rear guide wheel of the sweeper catches the lower frame of the component.

[0095] In another implementation of this embodiment, it is determined whether the rear guide wheel is latched with the lower edge of the first photovoltaic module by the sensing data collected by the sweeper sensor. Specifically, the sweeper sensor includes a front guide wheel sensor and a rear guide wheel sensor. The sensor type includes, but is not limited to, a pressure sensor. When the sensing data collected by the rear guide wheel sensor is greater than or equal to the second pressure set value, it is determined that the rear guide wheel of the sweeper is latched with the lower frame of the module.

[0096] In another implementation of this embodiment, it is jointly determined whether the rear guide wheel is latched with the lower edge of the first photovoltaic module by the sensing data collected by the gripper sensor and the sweeper sensor. Specifically, combining the above two implementation manners, when the sensing data of both sensors meet the set conditions, or any one meets the set conditions, it is determined that the rear guide wheel of the sweeper is latched with the lower frame of the module.

[0097] S123, control the robotic arm to slowly retract, keep the latching position of the rear guide wheel and the lower edge of the first photovoltaic module unchanged, and slowly lift the upper end of the sweeper.

[0098] Specifically, after the rear guide wheel of the sweeper is latched with the lower frame of the module, the robotic arm stops moving forward and rotates in a fan shape backward with the rear guide wheel as the rotation fulcrum. Refer to the attached Figure 3 illustrations. The sweeper sensor includes an upper sweeper sensor and a lower sweeper sensor. The sensor type includes, but is not limited to, a proximity sensor. Detect whether the upper end of the sweeper has completely left the module through the upper sweeper sensor. If so, the robotic arm stops moving upward.

[0099] Based on the above embodiment, another embodiment of a transfer control method for a sweeper is disclosed in this application. The step S130 specifically includes the following sub-steps:

[0100] S131, control the robotic arm to drive the sweeper to move away from the first photovoltaic module.

[0101] Specifically, after the upper end of the sweeper has completely left the module, the robotic arm drives the entire sweeper to move backward. Make the rear guide wheel of the sweeper leave the first photovoltaic module. Considering the latching relationship between the rear guide wheel and the lower edge, the movement in the direction away from the first photovoltaic module is to move along the direction extending downward along the lower edge of the first photovoltaic module to make the rear guide wheel leave the lower edge. Preferably, move in a plane parallel to the panel of the first photovoltaic module and perpendicular to the directly rear direction of the lower edge (i.e., the obliquely downward direction parallel to the initial pose of the sweeper). The purpose is to disengage the rear guide wheel from the lower edge of the first photovoltaic module.

[0102] S132. Obtain the third sensing data collected by the sweeper sensor, and determine whether the sweeper has completely separated from the first photovoltaic module.

[0103] Specifically, based on the sensing data of the sweeper sensor including the rear guide wheel sensor or the lower end sensor of the sweeper, determine whether the rear guide wheel of the sweeper has separated from the lower edge of the first photovoltaic module; that is, determine whether the sweeper has completely separated from the first photovoltaic module.

[0104] After the sweeper has completely separated from the first photovoltaic module, the upper part of the sweeper is suspended above the module. At this time, the sweeper sensor detects that the sweeper maintains a certain distance from the photovoltaic module. The robotic arm continues to move backward until the sweeper sensor can no longer detect the module. The transfer robot stops moving backward and moves forward in the direction of the next destination.

[0105] Another embodiment of the transfer control method for a sweeper provided by this application. Based on any one of the above methods, the step S210 specifically includes the following sub-steps:

[0106] S211. The transfer robot departs and obtains the location of the destination of the sweeper (the second photovoltaic module) through the data transceiver module so that the transfer robot can reach near the second photovoltaic module.

[0107] S212. During the walking process, control the vehicle-mounted vision module to collect images within a 120° range of the camera field of view directly in front of the transfer robot, and determine whether the second photovoltaic module is within the target range through the vehicle-mounted vision module. If it is not within the target range, adjust the camera angle until the second photovoltaic module is found in the camera target view.

[0108] S213. Identify the upper and lower edges of the second photovoltaic module. Control the transfer robot to run to the second position at a fixed distance in front of the lower edge of the second photovoltaic module.

[0109] S214. Detect the distance from the sweeper sensor, including but not limited to the rear guide wheel sensor, to the module. After the distance meets the preset distance condition, the transfer robot stops.

[0110] Another embodiment of the transfer control method for a sweeper provided by this application. Based on any one of the above methods, the step S220 specifically includes the following sub-steps:

[0111] S221. Control the robotic arm to move forward.

[0112] S222. Obtain the fourth sensing data collected by the gripper sensor and / or the sweeper sensor. Determine whether the rear guide wheel of the sweeper contacts the lower edge of the second photovoltaic module through the fourth sensing data. After it is recognized that the rear guide wheel contacts the module, the robotic arm stops moving forward.

[0113] Specifically, the fourth sensing data is the resistance data collected by the gripper sensor. If the resistance of the robotic arm motor increases, it is considered whether the rear guide wheel contacts the lower edge of the second photovoltaic module, that is, the lower part of the sweeper touches the module; otherwise, the robotic arm continues to move forward.

[0114] Or, the fourth sensing data is the pressure data collected by the sweeper sensor. If the pressure of the rear guide wheel increases, it is considered that the rear guide wheel contacts the lower edge of the second photovoltaic module, that is, the lower part of the sweeper touches the module; otherwise, the robotic arm continues to move forward.

[0115] Another embodiment of the transfer control method for a sweeper provided in this application. Based on any one of the above embodiments of the method, step S230 specifically includes the following sub-steps:

[0116] S231, after the lower part of the sweeper touches the second photovoltaic module, the robotic arm stops moving forward and moves downward.

[0117] S232, obtain the fifth sensing data collected by the gripper sensor and / or the sweeper sensor. Determine whether the front guide wheel of the sweeper contacts the upper edge of the second photovoltaic module through the fifth sensing data. That is, whether the sweeper is substantially parallel to the second photovoltaic module. After it is recognized that the front guide wheel contacts the upper edge of the second photovoltaic module, the robotic arm stops moving downward.

[0118] Specifically, the fifth sensing data is the resistance data collected by the gripper sensor. If the resistance of the robotic arm motor increases, it is considered that the front guide wheel contacts the upper edge of the second photovoltaic module, that is, the upper part of the sweeper touches the module, and the sweeper is substantially parallel to the second photovoltaic module; otherwise, the robotic arm continues to move downward.

[0119] Or, the fifth sensing data is the pressure data collected by the sweeper sensor. If the pressure of the front guide wheel increases, it is considered that the front guide wheel contacts the upper edge of the second photovoltaic module, that is, the upper part of the sweeper touches the module, and the sweeper is substantially parallel to the second photovoltaic module; otherwise, the robotic arm continues to move downward.

[0120] Another embodiment of the transfer control method for a sweeper provided in this application. Based on any one of the above embodiments of the method, step S240 specifically includes the following sub-steps:

[0121] S241, obtain the sixth sensing data collected by the sweeper sensor. Based on the recognition of the vehicle-mounted vision module and the sixth sensing data, generate an instruction to control the robotic arm to adjust the position of the sweeper. Make the front and rear guide wheels of the sweeper align with the upper and lower edges of the photovoltaic module respectively.

[0122] S242. After confirming alignment, the robotic arm stops moving and the gripper is opened. While the grasping structure continues to open, the gripper sensor detects the sweeper until it detects that the gripper is completely released, and then the robotic arm retracts.

[0123] S243. The transfer robot communicates with the sweeper to start running so that the sweeper can perform cleaning work independently. The transfer robot continues to run in the next target direction.

[0124] In the above embodiments, the process of lowering the sweeper and the process of raising the sweeper are based on the same operating principle. Those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application also intends to include these modifications and variations.

[0125] Based on the same concept, this application also discloses a transfer control system for a sweeper. The system is used to implement the steps described in any one of the above method embodiments. Specifically, an embodiment of a transfer control system for a sweeper of this application specifically includes: a movement control module and a robotic arm control module.

[0126] The movement control module is used to control the transfer robot to run to the first position corresponding to the starting point where the sweeper is located.

[0127] The robotic arm control module is used to stably grip the grasped structure on the sweeper through the robotic arm and the gripper. It is also used to drive the gripper to lift the upper end of the sweeper by controlling the robotic arm. At this time, the rear guide wheel is clamped with the lower edge of the first photovoltaic module. When the front guide wheel disengages from the upper edge of the first photovoltaic module, with the rear guide wheel as the rotation fulcrum, the robotic arm grabs the sweeper and rotates in a fan shape around the rotation fulcrum until the upper end of the sweeper completely disengages from the first photovoltaic module. It is also used to control the robotic arm to drive the entire sweeper to move in a specified direction so that the rear guide wheel disengages from the lower edge of the first photovoltaic module.

[0128] Based on the above embodiments, another embodiment of a transfer control system for a sweeper disclosed in this application further includes:

[0129] A vehicle-mounted vision module, which is used to collect environmental images and identify the positions of the target photovoltaic module, the sweeper, the gripper, and the grasped structure through image matching.

[0130] A data transceiver module, which is used to receive the sensing data collected by the gripper sensor and / or the sweeper sensor.

[0131] The robotic arm control module is further configured to generate an instruction for controlling the robotic arm based on the result of visual recognition and the sensing data.

[0132] Another embodiment of the transfer control system for a sweeper provided by this application, based on any one of the above embodiments of the system, the movement control module is further configured to control the transfer robot to grip the sweeper and move it to a second position corresponding to the transfer destination.

[0133] The vehicle-mounted vision module is further configured to identify the second photovoltaic module area and control the robotic arm to adjust the rear guide wheel of the sweeper to contact the lower edge of the second photovoltaic module.

[0134] The robotic arm control module is further configured to use the contact point between the rear guide wheel and the lower edge of the second photovoltaic module as a fulcrum, and control the robotic arm to drive the sweeper to slowly lower the front guide wheel until the sweeper is substantially parallel to the second photovoltaic module.

[0135] The robotic arm control module is further configured to adjust the position of the sweeper so that the front guide wheel and the rear guide wheel are respectively aligned with the upper edge and the lower edge of the second photovoltaic module. After the alignment is completed, control the gripper to release the grabbed structure so that the sweeper can independently perform the cleaning work.

[0136] Based on the same concept, this application also discloses: a photovoltaic cleaning device, including a transfer robot and a sweeper.

[0137] The sweeper is used to independently complete the cleaning work of the photovoltaic modules. The transfer robot is used to transfer the sweeper to move between different photovoltaic modules.

[0138] The transfer robot includes: a robot body, a moving component, a robotic arm, a gripper, and a gripper sensor. It also includes the transfer control system for the sweeper in any one of the above embodiments.

[0139] The sweeper includes a sweeper body, a front guide wheel, a rear guide wheel, a grabbed structure, a sweeper sensor, and a wireless communication component.

[0140] A transfer control method and system for a sweeper and a photovoltaic cleaning device of this application have the same technical concept, and the technical details of the embodiments of the two can be mutually applicable. To reduce repetition, they will not be elaborated here.

[0141] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above program modules is used as an example for illustration. In actual applications, the above functions can be assigned to different program modules according to needs, that is, the internal structure of the device is divided into different program units or modules to complete all or part of the functions described above. Each program module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in a processing unit. The above integrated units can be implemented in the form of hardware or in the form of software program units. In addition, the specific names of the program modules are only for the convenience of mutual distinction and do not limit the protection scope of this application.

[0142] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

Claims

1. A transfer control method for a sweeper, characterized in that, The steps include: The transfer robot runs to the first position corresponding to the starting point of the sweeper, and the gripper is stably clamped on the grabbed structure on the sweeper through the control of the robotic arm; the grabbed structure is fixedly arranged on the sweeper at a position close to the front guide wheel, so that the lifting and hanging center of gravity of the sweeper is located between the grabbed structure and the rear guide wheel; The robotic arm is controlled to drive the gripper to lift the upper end of the sweeper; at this time, the rear guide wheel is clamped with the lower edge of the first photovoltaic module; when the front guide wheel is separated from the upper edge of the first photovoltaic module, with the rear guide wheel as the rotation fulcrum, the robotic arm grabs the sweeper and rotates in a fan shape around the rotation fulcrum until the upper end of the sweeper is completely separated from the first photovoltaic module; The robotic arm is controlled to drive the whole sweeper to move in a specified direction, so that the rear guide wheel is separated from the lower edge of the first photovoltaic module.

2. The transfer control method of a sweeper according to claim 1, characterized in that, It further includes: The transfer robot clamps the sweeper and moves it to the second position corresponding to the transfer destination; The vehicle-mounted vision module is used to identify the second photovoltaic module area, and the robotic arm is controlled to adjust the rear guide wheel of the sweeper to contact the lower edge of the second photovoltaic module; With the contact point between the rear guide wheel and the lower edge of the second photovoltaic module as the fulcrum, the robotic arm is controlled to drive the sweeper to slowly lower the front guide wheel until the sweeper is basically parallel to the second photovoltaic module; The position of the sweeper is adjusted so that the front guide wheel and the rear guide wheel are respectively aligned with the upper edge and the lower edge of the second photovoltaic module; after the alignment is completed, the gripper is controlled to release the grabbed structure so that the sweeper can independently perform the cleaning work.

3. The transfer control method of a sweeper according to claim 1, characterized in that, When the transfer robot runs to the first position corresponding to the starting point of the sweeper, and the gripper is stably clamped on the grabbed structure on the sweeper through the control of the robotic arm, it specifically includes: The starting position of the sweeper is obtained by combining the positioning information with the vehicle-mounted vision module, and the transfer robot is controlled to run to the first position corresponding to the starting position; The robotic arm is controlled to lower the gripper; at the same time, the vehicle-mounted vision module collects the image of the sweeper, so as to judge the relative position between the gripper and the grabbed structure and adjust the alignment; When the gripper is aligned with the grabbed structure, the gripper closes, and the first sensing data collected by the gripper sensor is obtained to judge whether the gripper is completely closed.

4. A transfer control method for a sweeper according to any one of claims 1-3, characterized in that: The grabbed structure is fixed at the one-third position of the sweeper close to the front guide wheel.

5. The transfer control method of a sweeper according to claim 1, wherein, When the robotic arm is controlled to drive the gripper to lift the upper end of the sweeper, it specifically includes: The robotic arm is controlled to drive the sweeper to move forward; The second sensing data collected by the gripper sensor and / or the sweeper sensor is obtained to judge whether the rear guide wheel is clamped with the lower edge of the first photovoltaic module; The robotic arm is controlled to slowly retract, the clamping position of the rear guide wheel and the lower edge of the first photovoltaic module remains unchanged, and the upper end of the sweeper is slowly lifted upward.

6. The transfer control method of a sweeper according to claim 5, characterized in that, Controlling the robotic arm to drive the sweeper as a whole to move in a specified direction so that the rear guide wheel disengages from the lower edge of the first photovoltaic module specifically includes: Controlling the robotic arm to drive the sweeper to move away from the first photovoltaic module; Obtaining the third sensing data collected by the sweeper sensor and determining whether the sweeper has completely disengaged from the first photovoltaic module.

7. A transfer control system for a sweeper, characterized in that, The control system is used to execute the steps of the transfer control method of the sweeper according to any one of claims 1-6; it includes a movement control module and a robotic arm control module; The movement control module is used to control the transfer robot to run to the first position corresponding to the starting point where the sweeper is located; The robotic arm control module is used to stably grip the grasped structure on the sweeper through the robotic arm control gripper; it is also used to drive the gripper to lift the upper end of the sweeper through the control of the robotic arm; at this time, the rear guide wheel is clamped with the lower edge of the first photovoltaic module; when the front guide wheel disengages from the upper edge of the first photovoltaic module, with the rear guide wheel as the rotation fulcrum, the robotic arm grabs the sweeper and rotates in a fan shape around the rotation fulcrum until the upper end of the sweeper completely disengages from the first photovoltaic module; it is also used to control the robotic arm to drive the sweeper as a whole to move in a specified direction so that the rear guide wheel disengages from the lower edge of the first photovoltaic module.

8. The transfer control system of a sweeper according to claim 7, wherein, It further includes: A vehicle-mounted vision module for collecting environmental images and identifying the positions of the target photovoltaic module, the sweeper, the gripper, and the grasped structure through image matching; A data transceiver module for receiving the sensing data collected by the gripper sensor and / or the sweeper sensor; The robotic arm control module is also used to generate an instruction for controlling the robotic arm based on the result of vision recognition and the sensing data.

9. A transfer control system for a sweeper according to claim 8, wherein: The movement control module is further used to control the transfer robot to grip the sweeper and move it to the second position corresponding to the transfer destination; The vehicle-mounted vision module is further used to identify the second photovoltaic module area and control the robotic arm to adjust the rear guide wheel of the sweeper to contact the lower edge of the second photovoltaic module; The robotic arm control module is further used to use the contact point between the rear guide wheel and the lower edge of the second photovoltaic module as a fulcrum to control the robotic arm to drive the sweeper to slowly lower the front guide wheel until the sweeper is substantially parallel to the second photovoltaic module; The robotic arm control module is further used to adjust the position of the sweeper so that the front guide wheel and the rear guide wheel respectively complete alignment with the upper edge and the lower edge of the second photovoltaic module; after completion of the alignment, control the gripper to release the grasped structure so that the sweeper can independently perform the cleaning work.

10. A photovoltaic cleaning device, characterized in that, It includes a transfer robot and a sweeper; The sweeper is used to independently complete the cleaning work of the panel photovoltaic module; the transfer robot is used to transfer the sweeper to move between different photovoltaic modules; The transfer robot includes: a robot main body, a moving component, a robotic arm, a gripper, and a gripper sensor; it also includes the transfer control system of the sweeper according to any one of claims 7-9. The sweeper includes a sweeper main body, front guide wheels, rear guide wheels, a structure to be grabbed, a sweeper sensor, and a wireless communication component.

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