Method and device for controlling photovoltaic cleaning robot

Abstract

The invention discloses a method and device for controlling a photovoltaic cleaning robot. Based on stress parameters and driving parameters of the photovoltaic cleaning robot on the surface of a photovoltaic module, the friction coefficient of the photovoltaic cleaning robot is dynamically detected in real time, and the sensing precision of the motion state of the photovoltaic cleaning robot is improved. And determining an operation scene according to the friction coefficient. Whether the photovoltaic cleaning robot needs anti-skid operation or not can be accurately recognized, and the problems caused by invalid or excessive anti-skid operation are reduced. The current working condition is obtained, the anti-skid control model outputs a control instruction for the current working condition under the condition of the preset operation scene, the control model controls the photovoltaic cleaning robot to execute anti-skid operation under the straight-going working condition or the steering working condition, and full coverage of the steering working condition and the straight-going working condition is achieved; the running track of the photovoltaic cleaning robot under all working conditions is kept high in precision, and the operation safety and stability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic cleaning, in particular to a method and device for controlling a photovoltaic cleaning robot. BACKGROUND

[0002] The photovoltaic cleaning robot (hereinafter referred to as robot) is a device that travels on a photovoltaic module and is used to clean the surface of the photovoltaic module. The surface of the photovoltaic module is close to a mirror surface and has a certain inclination angle, and sometimes has dust covered thereon. When the robot is on the photovoltaic module, there is a risk of sliding deviation or even falling.

[0003] In the prior art, mechanical structures such as steering auxiliary devices can be used to reduce the sliding deviation of the robot, but can only be applied in specific working conditions such as steering working conditions, and the steering working conditions only account for a small proportion in the running process of the robot, and have a small effect on reducing the sliding deviation of the robot. SUMMARY

[0004] Based on the above problems, the present application provides a method and device for controlling a photovoltaic cleaning robot, which can reduce the sliding deviation of the robot in various working conditions and improve the applicability of the robot.

[0005] The present application discloses a method for controlling a photovoltaic cleaning robot, the method comprising:

[0006] Based on the force parameters and travel parameters of the photovoltaic cleaning robot on the surface of the photovoltaic module, a friction coefficient corresponding to the photovoltaic cleaning robot is obtained in real time;

[0007] According to the friction coefficient, the running scene of the photovoltaic cleaning robot is determined;

[0008] A current working condition to which the photovoltaic cleaning robot belongs in real time is obtained; the current working condition includes a straight running working condition and a steering working condition;

[0009] In the case where the running scene is a preset running scene, the travel parameters and the friction coefficient are input into an anti-skid control model to obtain a control instruction; the control instruction is used to instruct the photovoltaic cleaning robot to perform an anti-skid operation in the current working condition;

[0010] The photovoltaic cleaning robot is controlled to execute the control instruction.

[0011] Optionally, the method for obtaining the friction coefficient corresponding to the photovoltaic cleaning robot in real time based on the force parameters and travel parameters of the photovoltaic cleaning robot on the surface of the photovoltaic module comprises:

[0012] The photovoltaic cleaning robot located on the surface of the photovoltaic module is subjected to force analysis to obtain the force parameters;

[0013] obtaining an angle of an inclination of the surface of the photovoltaic module;

[0014] substituting the force parameter, the driving parameter and the angle of the inclination into a dynamic equation to obtain a friction coefficient expression;

[0015] calculating the friction coefficient in real time based on the friction coefficient expression.

[0016] Optionally, the determining the operation scene of the photovoltaic cleaning robot according to the friction coefficient comprises:

[0017] setting a friction coefficient range based on the angle of the inclination;

[0018] determining that the operation scene is the preset scene in a case where the friction coefficient is within the friction coefficient range.

[0019] Optionally, the obtaining a current working condition to which the photovoltaic cleaning robot belongs in real time comprises:

[0020] obtaining a left wheel speed, a right wheel speed and a lateral acceleration in the driving parameter;

[0021] determining that the current working condition is the straight working condition in a case where a difference between the left wheel speed and the right wheel speed is less than a first difference value, and a ratio between the lateral acceleration and a gravitational acceleration is lower than a preset ratio value.

[0022] determining that the current working condition is the steering working condition in a case where a difference between the left wheel speed and the right wheel speed is greater than a second difference value, and / or a steering angle deviation value exists in the driving parameter; the second difference value is greater than or equal to the first difference value.

[0023] Optionally, the current working condition is the steering working condition, and the steering working condition comprises a steering-in stage, and the inputting the driving parameter and the friction coefficient into an anti-slip control model to obtain a control instruction comprises:

[0024] generating a first control instruction according to a change of the friction coefficient in the steering-in stage; the first control instruction is used to instruct the photovoltaic cleaning robot to adjust an inner side wheel torque; the inner side wheel is located at a steering direction side.

[0025] Optionally, the current working condition is the steering working condition, and the steering working condition comprises a steering-in stage, and the inputting the driving parameter and the friction coefficient into an anti-slip control model to obtain a control instruction comprises:

[0026] In the turning middle stage, the turning angle deviation value is acquired at a preset frequency, and a second control instruction is generated according to the change of the turning angle deviation value and the friction coefficient; the second control instruction is used to instruct the photovoltaic cleaning robot to adjust the wheel speed; and the adjustment amplitude in the second control instruction has a corresponding relationship with the friction coefficient.

[0027] Optionally, the current working condition is the turning working condition, the turning working condition includes a turning post-stage, and the inputting of the driving parameter and the friction coefficient into the anti-skid control model to obtain the control instruction includes:

[0028] For the turning post-stage, in a case where the turning angle deviation value is greater than a preset deviation value for more than a preset time, a planning instruction is generated to re-generate a cleaning path of the photovoltaic cleaning robot.

[0029] Optionally, the current working condition is a straight-line driving working condition, the anti-skid control for the straight-line driving working condition includes longitudinal control, and the inputting of the driving parameter and the friction coefficient into the anti-skid control model to obtain the control instruction includes:

[0030] A third control instruction is generated according to the longitudinal acceleration in the driving parameter and the friction coefficient to perform the longitudinal control; the third control instruction is used to instruct the photovoltaic cleaning robot to adjust the driving torque.

[0031] Optionally, the current working condition is a straight-line driving working condition, the anti-skid control for the straight-line driving working condition includes lateral control, and the inputting of the driving parameter and the friction coefficient into the anti-skid control model to obtain the control instruction includes:

[0032] When there is lateral deviation in the driving parameter, a fourth control instruction is generated according to the friction coefficients corresponding to the two wheels of the photovoltaic cleaning robot to perform the lateral control; the fourth control instruction is used to instruct the photovoltaic cleaning robot to adjust the wheel speed.

[0033] Optionally, after the photovoltaic cleaning robot is controlled to execute the control instruction, the method further includes:

[0034] In a case where the friction coefficient is lower than an emergency threshold value, the photovoltaic cleaning robot is controlled to perform emergency braking, and after retreating by a preset distance along the cleaning path, the photovoltaic cleaning robot is controlled to return to a warehouse along a warehouse return path.

[0035] Optionally, after the photovoltaic cleaning robot is controlled to execute the control instruction, the method further includes:

[0036] Related data of the anti-skid operation of the photovoltaic cleaning robot is recorded.

[0037] Predicting a non-slip condition of the photovoltaic cleaning robot based on the correlation data to give a warning.

[0038] Based on the above method for controlling a photovoltaic cleaning robot, the application further discloses a device for controlling a photovoltaic cleaning robot, comprising an acquisition unit, a scene determination unit, a working condition determination unit, a processing unit and a control unit.

[0039] The acquisition unit is configured to acquire a friction coefficient corresponding to the photovoltaic cleaning robot in real time based on force parameters and driving parameters of the photovoltaic cleaning robot on the surface of a photovoltaic module.

[0040] The scene determination unit is configured to determine a running scene of the photovoltaic cleaning robot according to the friction coefficient.

[0041] The working condition determination unit is configured to acquire a current working condition to which the photovoltaic cleaning robot belongs in real time; the current working condition comprises a straight running working condition and a turning working condition.

[0042] The processing unit is configured to input the driving parameters and the friction coefficient into a non-slip control model to obtain a control instruction in a case where the running scene is a preset running scene; the control instruction is used to instruct the photovoltaic cleaning robot to perform a non-slip operation in the current working condition.

[0043] The control unit is configured to control the photovoltaic cleaning robot to execute the control instruction.

[0044] Optionally, the acquisition unit comprises:

[0045] The analysis subunit is configured to perform force analysis on the photovoltaic cleaning robot located on the surface of the photovoltaic module to obtain the force parameters.

[0046] The acquisition subunit is configured to acquire an angle of an inclination angle of the surface of the photovoltaic module.

[0047] The substitution subunit is configured to substitute the force parameters, the driving parameters and the angle of the inclination angle into a dynamics equation to obtain a friction coefficient expression.

[0048] The calculation subunit is configured to calculate the friction coefficient in real time based on the friction coefficient expression.

[0049] Optionally, the scene determination unit comprises:

[0050] The setting subunit is configured to set a friction coefficient range based on the angle of the inclination angle.

[0051] The determination subunit is configured to determine that the running scene is the preset scene in a case where the friction coefficient is within the friction coefficient range.

[0052] Optionally, the working condition determination unit comprises:

[0053] an extraction sub-unit configured to acquire a left wheel speed, a right wheel speed and a lateral acceleration in the driving parameter;

[0054] a straight driving sub-unit configured to determine that the current working condition is the straight driving working condition when a difference between the left wheel speed and the right wheel speed is less than a first difference value and a ratio between the lateral acceleration and a gravitational acceleration is lower than a preset ratio value;

[0055] a turning sub-unit configured to determine that the current working condition is the turning working condition when a difference between the left wheel speed and the right wheel speed is greater than a second difference value and / or a turning angle deviation value exists in the driving parameter; the second difference value is greater than or equal to the first difference value.

[0056] Optionally, the current working condition is the turning working condition, and the turning working condition comprises a turning-in stage, and the processing unit comprises:

[0057] a turning-in sub-unit configured to generate a first control instruction according to a change in the friction coefficient in the turning-in stage; the first control instruction is used to instruct the photovoltaic cleaning robot to adjust an inner side wheel torque; the inner side wheel is located at a turning direction side.

[0058] Optionally, the current working condition is the turning working condition, and the turning working condition comprises a turning-in stage, and the processing unit comprises:

[0059] a turning-in sub-unit configured to acquire the turning angle deviation value at a preset frequency in the turning-in stage, and generate a second control instruction according to a change in the turning angle deviation value and the friction coefficient; the second control instruction is used to instruct the photovoltaic cleaning robot to adjust a wheel speed; an adjustment amplitude in the second control instruction has a corresponding relationship with the friction coefficient.

[0060] Optionally, the current working condition is the turning working condition, and the turning working condition comprises a turning-in stage, and the processing unit comprises:

[0061] a turning-in sub-unit configured to generate a planning instruction to re-generate a cleaning path of the photovoltaic cleaning robot in the case that the turning angle deviation value is greater than a preset deviation value for more than a preset time in the turning-in stage.

[0062] Optionally, the current working condition is the straight driving working condition, and the anti-skid control for the straight driving working condition comprises longitudinal control, and the processing unit comprises:

[0063] a torque control subunit configured to generate a third control instruction for performing the longitudinal control according to the friction coefficient and a longitudinal acceleration in the driving parameter; the third control instruction being configured to instruct the photovoltaic cleaning robot to adjust a driving torque.

[0064] Optionally, the current working condition is a straight running working condition, the anti-skid control for the straight running working condition comprises a lateral control, and the processing unit comprises:

[0065] a wheel speed control subunit configured to generate a fourth control instruction for performing the lateral control according to the friction coefficient corresponding to each wheel of the photovoltaic cleaning robot when there is a lateral deviation in the driving parameter; the fourth control instruction being configured to instruct the photovoltaic cleaning robot to adjust a wheel speed.

[0066] Optionally, the device further comprises:

[0067] an emergency unit configured to control the photovoltaic cleaning robot to perform emergency braking when the friction coefficient is lower than an emergency threshold, and then to move back along a back storage path after moving back a preset distance along a cleaning path.

[0068] Optionally, the device further comprises:

[0069] a recording unit configured to record relevant data of the photovoltaic cleaning robot performing the anti-skid operation;

[0070] a warning unit configured to predict an anti-skid condition of the photovoltaic cleaning robot based on the relevant data to perform a warning.

[0071] The application discloses a method and device for controlling a photovoltaic cleaning robot. Based on the force parameters and driving parameters of the photovoltaic cleaning robot on the surface of a photovoltaic module, the friction coefficient corresponding to the photovoltaic cleaning robot is dynamically detected in real time, and the sensing accuracy of the motion state of the photovoltaic cleaning robot is improved. The running scene of the photovoltaic cleaning robot is determined according to the friction coefficient. Whether the photovoltaic cleaning robot needs to perform an anti-skid operation can be accurately identified, for example, some deviations of the photovoltaic cleaning robot are normal and do not need to perform an anti-skid operation, and the method of the application can reduce the problems caused by invalid or excessive anti-skid operations, and more accurately distinguish normal deviations from dangerous skids. The current working condition is obtained, and in the case of a preset running scene, a control instruction for the current working condition is output by an anti-skid control model. Through the control instruction, the photovoltaic cleaning robot performs an anti-skid operation in a straight running working condition or a turning working condition, realizes full coverage of the turning and straight running working conditions, can perform an anti-skid operation in various working conditions, keeps a high accuracy of the driving trajectory of the photovoltaic cleaning robot in all working conditions, and improves the safety and stability of the photovoltaic cleaning robot in operation. BRIEF DESCRIPTION OF DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only constitute a part of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor based on the provided drawings.

[0073] Figure 1a A flowchart of a method for controlling a photovoltaic cleaning robot according to an embodiment of the present application;

[0074] Figure 1b A schematic diagram of force analysis of a robot according to an embodiment of the present application;

[0075] Figure 2 A flowchart of another method for controlling a photovoltaic cleaning robot according to an embodiment of the present application;

[0076] Figure 3 A structural schematic diagram of a device for controlling a photovoltaic cleaning robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0077] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments only constitute a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0078] Embodiment one: the present application discloses a method for controlling a photovoltaic cleaning robot.

[0079] Specifically, please refer to Figure 1a The method for controlling a photovoltaic cleaning robot disclosed in the present embodiment comprises the following steps:

[0080] Step 101: based on the force parameters and driving parameters of a photovoltaic cleaning robot on the surface of a photovoltaic module, a friction coefficient corresponding to the photovoltaic cleaning robot is obtained in real time.

[0081] In the method of the present embodiment, first, a photovoltaic cleaning robot (referred to as a robot) located on the surface of a photovoltaic module can be subjected to force analysis to obtain various force parameters. Specifically, please refer to Figure 1b The slope in the figure represents a photovoltaic module surface with an inclination angle of θ, and the rectangle on it represents the robot. Force analysis can be performed on the rectangle to obtain the following force parameters:

[0082] The gravity F received by the robot g, the direction is vertically downward, and the size is mg, where m is the mass of the robot, and g is the acceleration of gravity. F g The component along the slope direction is F2 = mgsinθ, which is the driving resistance. F g The component along the vertical slope direction is F1 = mgcosθ. The normal support force F n experienced by the robot is perpendicular to the slope surface and has a size equal to F1. The sliding friction force F f experienced by the robot is μF n = μmgcosθ, the direction of which is opposite to the driving direction of the robot, and μ is the friction coefficient. The driving force F d of the robot is provided by the motor of the robot, the direction of which is upward along the slope, for overcoming the friction force and the gravity component to drive the robot to walk.

[0083] In the method of the embodiment, the above force parameters are substituted into the dynamics equation to obtain the friction coefficient expression. Specifically, according to Newton's second law, the resultant force along the slope direction is equal to the product of the mass of the robot and the acceleration of the robot along the slope direction, that is, the following formula:

[0084] F d -F f -F2 = ma (1)

[0085] In the formula, a is the acceleration of the robot along the slope direction.

[0086] Substituting the force parameters into the formula, the following formula is obtained:

[0087] F d - μmgcosθ - mgsinθ = ma (2)

[0088] The solution of μ is expressed as the following formula:

[0089]

[0090] And the expression of F d is as follows:

[0091]

[0092] In the formula, n is the number of motors of the robot 2, τ i is the output torque (N.m) of the i th motor, η i is the transmission efficiency of the i th motor (usually between 0.8 and 0.85), F d is the sum of the values of the two motors.

[0093] In the method of the embodiment, through force analysis and equation derivation, an accurate expression of the friction coefficient can be obtained. Based on the expression of the friction coefficient and the driving parameters when the robot is driving, the friction coefficient can be calculated in real time. In actual application, the friction coefficient can be calculated in real time through software, and a 0.5s sliding window filter is added to output the smoothed result through the sliding average window.

[0094] Step 102: determining the running scene of the photovoltaic cleaning robot according to the friction coefficient.

[0095] In the method of the embodiment, the inclination angle of the surface of the photovoltaic module can be obtained in real time first, and the friction coefficient range is set based on the inclination angle. As an optional method, the relationship between the inclination angle and the friction coefficient range can be a positive relationship, i.e., the friction coefficient range increases with the increase of the inclination angle. For example, when the inclination angle is 20°, the friction coefficient range is set to be between 0.3 and 0.4, and the friction coefficient in this range is judged as a low friction coefficient, and the anti-skid operation needs to be performed at this time. Correspondingly, the friction coefficient greater than 0.4 can be regarded as normal, and the robot is allowed to run at full speed at this time. The friction coefficient less than 0.3 can be regarded as an emergency friction coefficient, and the robot can be controlled to brake urgently and try to return to the warehouse. Correspondingly, when the inclination angle is 25°, the friction coefficient range can be adjusted to be between 0.4 and 0.5.

[0096] In the method of the embodiment, when the friction coefficient is in the friction coefficient range, it is determined that the current running scene is a preset scene, i.e., the scene in which the anti-skid operation needs to be performed.

[0097] Step 103: obtaining the current working condition to which the photovoltaic cleaning robot belongs in real time.

[0098] In the method of the embodiment, based on the driving parameters and the friction coefficient calculated in real time, the current working condition of the robot can be determined, and the corresponding control instruction can be generated for the robot in each working condition. The control instruction is used to instruct the robot to perform the anti-skid operation in the current working condition, and the current working condition of the robot can include the straight running working condition and the turning working condition.

[0099] In the method of the embodiment, the left wheel speed, the right wheel speed and the lateral acceleration in the driving parameters are obtained. When the difference between the left wheel speed and the right wheel speed is less than a first difference value (such as 5%), and the ratio of the lateral acceleration to the gravitational acceleration is lower than a preset ratio value (such as 0.1 times g), it is determined that the current working condition is the straight running working condition. When the difference between the left wheel speed and the right wheel speed is greater than a second difference value (such as 15%), and / or there is a steering angle deviation value in the driving parameters, it is determined that the current working condition is the turning working condition. The second difference value is greater than or equal to the first difference value.

[0100] As an optional method, the identification of the working condition can also be performed by the anti-skid control model, and after the working condition is determined, the following step 104 is performed to generate a control instruction for the working condition.

[0101] Step 104: In the case where the running scene is a preset running scene, the driving parameter and the friction coefficient are input into an anti-skid control model to obtain a control instruction.

[0102] In the method of the embodiment, when the current working condition is the turning working condition, it can be divided into three stages: the pre-turning stage, the mid-turning stage and the post-turning stage, which correspond to the stage before the robot starts turning, the stage during turning and the stage after turning, respectively. The three stages are in parallel relationship, and one, two or all of the three stages can exist.

[0103] In the pre-turning stage, a first control instruction is generated according to the change of the friction coefficient. The first control instruction is used to instruct the robot to adjust the torque of the inner wheel. For example, the torque of the inner wheel is increased by 3%-5% for every 0.05 decrease in the friction coefficient to offset the expected deviation. The inner wheel is located on the turning direction side, for example, the left wheel when the robot turns left.

[0104] In the mid-turning stage, a turning angle deviation value (the deviation value of the actual turning angle and the target turning angle) in the driving parameter is first obtained at a preset frequency (such as once every 50 ms), and then a second control instruction is generated according to the change of the turning angle deviation value and the friction coefficient. The second control instruction is used to instruct the robot to adjust the wheel speed, and the adjustment amplitude in the second control instruction has a corresponding relationship with the friction coefficient, and generally, the lower the friction coefficient, the lower the compensation amplitude, so as to avoid excessive skidding. For example, when the friction coefficient is 0.35, the content of the second control instruction can be that the outer wheel is accelerated by 2% and the inner wheel is decelerated by 1% for every 1° increase in the turning angle deviation value. When the friction coefficient is 0.31, the content of the second control instruction can be adjusted to that the outer wheel is accelerated by 1% and the inner wheel is decelerated by 0.5% for every 1° increase in the turning angle deviation value.

[0105] In the post-turning stage, the turning angle deviation value is continuously monitored. When the turning angle deviation value is greater than a preset deviation value (such as 5%) and the time when the turning angle deviation value is greater than the preset deviation value exceeds a preset time (such as 3 s), a planning instruction is generated to re-generate the cleaning path of the robot, so that the robot travels on the correct path.

[0106] In the method of the embodiment, when the current working condition is the straight running working condition, the anti-skid control can be divided into longitudinal control and transverse control, which correspond to the longitudinal and transverse anti-skid control of the robot, respectively. The two aspects are in parallel relationship, and one or both of the two aspects can exist.

[0107] In the longitudinal control aspect, a third control instruction is generated according to the friction coefficient and the longitudinal acceleration in the driving parameter. The third control instruction is used to instruct the robot to adjust the driving torque, for example, to control the torque of the two wheels of the robot based on the friction coefficient by PID, to proportionally reduce the driving torque. And when the longitudinal acceleration is detected to be abnormal, it is automatically switched to a small step increment output.

[0108] In the lateral control aspect, when there is a lateral deviation in the driving parameter, the two wheels of the robot are respectively regarded as two main bodies, and the friction coefficients corresponding to the two wheels are calculated. A fourth control instruction is generated based on the friction coefficients of the two wheels. The fourth control instruction is used to instruct the robot to adjust the wheel speed, for example, the wheel speed of the wheel with a higher friction coefficient is reduced, and the wheel speed of the wheel with a lower friction coefficient is increased.

[0109] Step 105: controlling the photovoltaic cleaning robot to execute the control instruction.

[0110] In the method of the embodiment, the anti-skid control model can directly send a control instruction to the robot to control it to execute the control instruction.

[0111] As an optional method, when the friction coefficient is lower than an emergency threshold, it can be judged that the robot is in an unstable state, where the emergency threshold is in the range of the friction coefficient. At this time, the robot is controlled to emergency brake, and after retreating a preset distance (such as 1 m) along the cleaning path, the normal path planning is executed to return to the warehouse along the return path.

[0112] In the method of the embodiment, relevant data of the robot executing the anti-skid operation can be recorded, and the anti-skid situation of the robot in a certain area is predicted based on the relevant data in the subsequent period, so as to give an early warning. The relevant data can specifically include current weather, real-time friction coefficient, time node, position, historical friction coefficient, etc. of the robot executing the anti-skid operation, so as to predict the trajectory deviation of the robot in the area in a future period (such as 3 s), so that the anti-skid control can be intervened in advance.

[0113] The method of the embodiment realizes full coverage early warning and anti-skid control in the steering and straight running conditions without increasing the cost of sensors or other structures. The friction coefficient is calculated in real time and dynamically in combination with the inclination of the surface of the photovoltaic module and the driving parameter of the robot, so as to realize high-precision perception of the driving state of the robot. An anti-skid control model covering the steering and straight running conditions is constructed, and a control instruction for anti-skid operation is provided in various conditions, so that the trajectory of the robot in the full condition is kept accurate. At the same time, the normal steering deviation and the dangerous sliding state are effectively distinguished in a multi-level threshold manner. In addition, the historical data and real-time data are combined to realize anti-skid early warning, to improve the after-the-fact remedial measures into pre-emptive warning, to reduce the response time. And an emergency path can be generated in an emergency situation, which greatly improves the safety and stability of the robot cleaning.

[0114] Example 2: This application discloses another method for controlling a photovoltaic cleaning robot. Figure 2 The method described in this embodiment introduces the entire process of controlling the photovoltaic cleaning robot with an anti-slip control model.

[0115] Step 201: Receive the real-time driving parameters and friction coefficient of the photovoltaic cleaning robot as input data.

[0116] Step 202: Determine the current working condition of the photovoltaic cleaning robot based on the driving parameters.

[0117] Step 203 : When the current working condition is the turning condition, in the pre-turn phase, the photovoltaic cleaning robot is controlled to adjust the inner wheel torque according to the change in the friction coefficient. The process proceeds to step 205 .

[0118] Step 204: When the current operating condition is straight-ahead travel, the driving torque of the photovoltaic cleaning robot is adjusted based on the friction coefficient and the longitudinal acceleration in the driving parameters. Furthermore, when lateral offset is present in the driving parameters, the wheel speed of the photovoltaic cleaning robot is adjusted based on the friction coefficients corresponding to the two wheels.

[0119] Step 205: During the turning phase, the steering angle deviation value in the driving parameters is obtained at a preset frequency. Based on the change in the steering angle deviation value and the friction coefficient, the photovoltaic cleaning robot is controlled to adjust the wheel speed. The process proceeds to step 206.

[0120] Step 206: In the post-turn stage, the steering angle deviation value is continuously monitored. When the time when the steering angle deviation value is greater than the preset deviation value exceeds the preset time, the cleaning path is regenerated, and the photovoltaic cleaning robot is controlled to travel on the regenerated cleaning path.

[0121] Based on the method for controlling a photovoltaic cleaning robot disclosed in the above embodiment, this embodiment correspondingly discloses a device for controlling a photovoltaic cleaning robot. Figure 3 , the device for controlling a photovoltaic cleaning robot includes: an acquisition unit 301, a scene determination unit 302, a working condition determination unit 303, a processing unit 304 and a control unit 305;

[0122] The acquisition unit 301 is configured to acquire, in real time, a friction coefficient corresponding to the photovoltaic cleaning robot based on force parameters and driving parameters of the photovoltaic cleaning robot on the surface of the photovoltaic module;

[0123] The scene determination unit 302 is used to determine the operation scene of the photovoltaic cleaning robot according to the friction coefficient;

[0124] The working condition determination unit 303 is used to obtain the current working condition of the photovoltaic cleaning robot in real time; the current working condition includes a straight working condition and a turning working condition;

[0125] The processing unit 304 is configured to input the driving parameters and the friction coefficient into an anti-slip control model to obtain a control instruction when the operating scenario is a preset operating scenario; the control instruction is configured to instruct the photovoltaic cleaning robot to perform an anti-slip operation under the current operating condition;

[0126] The control unit 305 is used to control the photovoltaic cleaning robot to execute the control instructions.

[0127] Optionally, the acquiring unit 301 includes:

[0128] an analysis subunit, configured to perform a force analysis on the photovoltaic cleaning robot located on the surface of the photovoltaic assembly to obtain the force parameters;

[0129] an acquisition subunit, configured to acquire the inclination angle of the photovoltaic module surface;

[0130] A substitution subunit is used to substitute the force parameter, the driving parameter and the angle of the inclination into a dynamic equation to obtain an expression for the friction coefficient;

[0131] The calculation subunit is used to calculate the friction coefficient in real time based on the friction coefficient expression.

[0132] Optionally, the scene determination unit 302 includes:

[0133] A setting subunit is configured to set a friction coefficient range based on the angle of the inclination;

[0134] The determination subunit is configured to determine that the operating scenario is the preset scenario when the friction coefficient is within the friction coefficient range.

[0135] Optionally, the operating condition determination unit 303 includes:

[0136] an extraction subunit, configured to obtain the left wheel speed, the right wheel speed, and the lateral acceleration from the driving parameters;

[0137] a straight-ahead subunit, configured to determine that the current operating condition is the straight-ahead operating condition when the difference between the left wheel speed and the right wheel speed is less than a first difference value and the ratio of the lateral acceleration to the acceleration due to gravity is lower than a preset ratio;

[0138] A turning subunit is configured to determine that the current working condition is the turning working condition when a difference between the left wheel speed and the right wheel speed is greater than a second difference value, and / or a turning angle deviation value exists in the driving parameter; the second difference value is greater than or equal to the first difference value.

[0139] Optionally, the current working condition is the turning working condition, and the turning working condition includes a turning-in phase, and the processing unit 304 includes:

[0140] A turning-in subunit is configured to generate a first control instruction according to a change in the friction coefficient in the turning-in phase; the first control instruction is used to instruct the photovoltaic cleaning robot to adjust an inner wheel torque; the inner wheel is located on a turning direction side.

[0141] Optionally, the current working condition is the turning working condition, and the turning working condition includes a turning-in phase, and the processing unit 304 includes:

[0142] A turning-in subunit is configured to generate a first control instruction according to a change in the friction coefficient in the turning-in phase; the first control instruction is used to instruct the photovoltaic cleaning robot to adjust an inner wheel torque; the inner wheel is located on a turning direction side.

[0143] Optionally, the current working condition is the turning working condition, and the turning working condition includes a turning-in phase, and the processing unit 304 includes:

[0144] A turning-in subunit is configured to generate a first control instruction according to a change in the friction coefficient in the turning-in phase; the first control instruction is used to instruct the photovoltaic cleaning robot to adjust an inner wheel torque; the inner wheel is located on a turning direction side.

[0145] Optionally, the current working condition is the straight working condition, and the anti-skid control for the straight working condition includes longitudinal control, and the processing unit 304 includes:

[0146] A torque control subunit is configured to generate a third control instruction according to the friction coefficient and a longitudinal acceleration in the driving parameter to perform the longitudinal control; the third control instruction is used to instruct the photovoltaic cleaning robot to adjust a driving torque.

[0147] Optionally, the current working condition is the straight working condition, and the anti-skid control for the straight working condition includes longitudinal control, and the processing unit 304 includes:

[0148] The wheel speed control subunit is configured to generate a fourth control instruction for performing the lateral control according to the friction coefficients corresponding to the two wheels of the photovoltaic cleaning robot when there is a lateral deviation in the driving parameter, and the fourth control instruction is configured to instruct the photovoltaic cleaning robot to adjust the wheel speed.

[0149] Optionally, the device further comprises:

[0150] The emergency unit is configured to control the photovoltaic cleaning robot to perform emergency braking and retreat along the cleaning path by a preset distance and then retreat to the warehouse along the warehouse retreat path when the friction coefficient is lower than an emergency threshold.

[0151] Optionally, the device further comprises:

[0152] The recording unit is configured to record relevant data of the anti-skid operation performed by the photovoltaic cleaning robot.

[0153] The early warning unit is configured to predict the anti-skid condition of the photovoltaic cleaning robot based on the relevant data to perform early warning.

[0154] The embodiments in the specification are described in a progressive manner. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant part is referred to the method part.

[0155] It should also be noted that the terms such as first and second, etc. in the present text are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0156] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0157] The features recited in the examples in the specification can be substituted or combined with each other, enabling a person skilled in the art to implement or use the present application.

[0158] The above description of disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling a photovoltaic cleaning robot, characterized in that: include: Based on the force parameters and driving parameters of the photovoltaic cleaning robot on the surface of the photovoltaic module, a friction coefficient corresponding to the photovoltaic cleaning robot is obtained in real time; determining an operating scenario of the photovoltaic cleaning robot according to the friction coefficient; Obtaining the current working condition of the photovoltaic cleaning robot in real time; the current working condition includes a straight-moving working condition and a turning working condition; When the operating scenario is a preset operating scenario, the driving parameter and the friction coefficient are input into an anti-skid control model to obtain a control instruction; the control instruction is used to instruct the photovoltaic cleaning robot to perform an anti-skid operation under the current working condition; Control the photovoltaic cleaning robot to execute the control instruction.

2. The method according to claim 1, characterized in that The method of obtaining the friction coefficient corresponding to the photovoltaic cleaning robot in real time based on the force parameters and driving parameters of the photovoltaic cleaning robot on the surface of the photovoltaic module includes: Performing force analysis on the photovoltaic cleaning robot located on the surface of the photovoltaic assembly to obtain the force parameters; Obtaining the inclination angle of the photovoltaic module surface; Substituting the force parameter, the driving parameter and the inclination angle into the dynamic equation to obtain an expression for the friction coefficient; Based on the friction coefficient expression, the friction coefficient is calculated in real time.

3. The method according to claim 1 or 2, characterized in that Determining the operating scenario of the photovoltaic cleaning robot according to the friction coefficient includes: setting a friction coefficient range based on the angle of the inclination; When the friction coefficient is within the friction coefficient range, the operating scenario is determined to be the preset scenario.

4. The method according to claim 1, wherein The obtaining of the current working condition of the photovoltaic cleaning robot in real time includes: Obtaining the left wheel speed, right wheel speed and lateral acceleration from the driving parameters; When the difference between the left wheel speed and the right wheel speed is less than a first difference, and the ratio of the lateral acceleration to the acceleration due to gravity is lower than a preset ratio, determining that the current operating condition is the straight-ahead operating condition; When the difference between the left wheel speed and the right wheel speed is greater than a second difference, and / or a steering angle deviation value exists in the driving parameter, the current operating condition is determined to be the steering operating condition; the second difference is greater than or equal to the first difference.

5. The method according to claim 4, characterized in that The current working condition is the steering working condition, and the steering working condition includes a pre-turn stage. Inputting the driving parameter and the friction coefficient into an anti-slip control model to obtain a control instruction includes: In the pre-turn stage, a first control instruction is generated according to the change of the friction coefficient; the first control instruction is used to instruct the photovoltaic cleaning robot to adjust the torque of the inner wheel; the inner wheel is located on the steering direction side.

6. The method according to claim 4 or 5, characterized in that The current working condition is the steering working condition, and the steering working condition includes a mid-turn phase. Inputting the driving parameters and the friction coefficient into an anti-slip control model to obtain a control instruction includes: During the turning stage, the steering angle deviation value is obtained at a preset frequency, and a second control instruction is generated based on the change in the steering angle deviation value and the friction coefficient; the second control instruction is used to instruct the photovoltaic cleaning robot to adjust the wheel speed; the adjustment amplitude in the second control instruction corresponds to the friction coefficient.

7. The method according to claim 4 or 5, characterized in that The current working condition is the steering working condition, and the steering working condition includes a post-turn stage. Inputting the driving parameters and the friction coefficient into an anti-slip control model to obtain a control instruction includes: For the post-turn stage, when the time when the steering angle deviation value is greater than the preset deviation value exceeds the preset time, a planning instruction is generated to regenerate the cleaning path of the photovoltaic cleaning robot.

8. The method according to claim 4, characterized in that The current operating condition is a straight-ahead operating condition, and the anti-skid control for the straight-ahead operating condition includes longitudinal control. Inputting the driving parameter and the friction coefficient into an anti-skid control model to obtain a control instruction includes: A third control instruction is generated based on the friction coefficient and the longitudinal acceleration in the driving parameters to perform the longitudinal control; the third control instruction is used to instruct the photovoltaic cleaning robot to adjust the driving torque.

9. The method according to claim 4 or 8, characterized in that The current operating condition is a straight-ahead operating condition, and the anti-skid control for the straight-ahead operating condition includes lateral control. Inputting the driving parameter and the friction coefficient into an anti-skid control model to obtain a control instruction includes: When there is a lateral offset in the driving parameters, a fourth control instruction is generated according to the friction coefficients corresponding to the two wheels of the photovoltaic cleaning robot to perform the lateral control; the fourth control instruction is used to instruct the photovoltaic cleaning robot to adjust the wheel speed.

10. The method according to claim 1 or 4, characterized in that After controlling the photovoltaic cleaning robot to execute the control instruction, the method further includes: When the friction coefficient is lower than the emergency threshold, the photovoltaic cleaning robot is controlled to perform emergency braking, and after retreating a preset distance along the cleaning path, it returns to the warehouse along the return path.

11. The method according to claim 1 or 4, characterized in that After controlling the photovoltaic cleaning robot to execute the control instruction, the method further includes: Recording relevant data of the photovoltaic cleaning robot performing the anti-slip operation; The anti-slip condition of the photovoltaic cleaning robot is predicted based on the relevant data to provide an early warning.

12. A device for controlling a photovoltaic cleaning robot, characterized in that: include: Acquisition unit, scenario determination unit, working condition determination unit, processing unit and control unit; The acquisition unit is configured to acquire, in real time, a friction coefficient corresponding to the photovoltaic cleaning robot based on the force parameters and driving parameters of the photovoltaic cleaning robot on the surface of the photovoltaic module; The scene determination unit is used to determine the operation scene of the photovoltaic cleaning robot according to the friction coefficient; The working condition determination unit is used to obtain the current working condition of the photovoltaic cleaning robot in real time; The current working condition includes a straight-ahead working condition and a turning working condition; The processing unit is configured to input the driving parameters and the friction coefficient into an anti-skid control model to obtain a control instruction when the operating scenario is a preset operating scenario; the control instruction is configured to instruct the photovoltaic cleaning robot to perform an anti-skid operation under the current operating condition; The control unit is used to control the photovoltaic cleaning robot to execute the control instructions.

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