Double-photovoltaic-panel cleaning robot obstacle crossing method based on master-slave cooperative control

Abstract

The invention provides a double-photovoltaic-panel cleaning robot obstacle crossing method based on master-slave cooperative control, and relates to the technical field of photovoltaic panel cleaning robots. According to the double-photovoltaic-panel cleaning robot obstacle crossing method based on master-slave cooperative control, a standard photovoltaic panel cleaning robot is matched with a butt joint device and a sensor, a special robot does not need to be customized for the distance between two adjacent sets of photovoltaic panels, the large distance (such as 20-70 cm) between the adjacent sets of photovoltaic panels can be crossed, and the obstacle crossing reliability is high; when a group of photovoltaic panels are cleaned and obstacle crossing is needed, the two standard photovoltaic panel cleaning robots can be temporarily butted through the method, automatic and stable obstacle crossing is achieved through cooperative control, the two standard photovoltaic panel cleaning robots are separated after obstacle crossing, and the two standard photovoltaic panel cleaning robots continue to clean the second group of photovoltaic panels respectively. Continuous cleaning operation can be achieved without manual intervention, efficiency is high, and cost is low.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic panel cleaning robots, in particular to a double photovoltaic panel cleaning robot obstacle crossing method based on master-slave cooperative control. BACKGROUND

[0002] At present, photovoltaic panel cleaning robots are mostly single-machine operation, and each photovoltaic panel cleaning robot is responsible for a group of continuous photovoltaic panels. When there is a large gap between photovoltaic panel arrays, the traditional photovoltaic panel cleaning robot cannot cross, resulting in interruption of cleaning operation, which needs manual intervention or deployment of multiple independent robots, which is low in efficiency and high in cost.

[0003] Although there are attempts to customize special robots by lengthening the body or adding movable parts to solve the problem of crossing between photovoltaic panel arrays in the prior art, there are problems such as complex structure, poor reliability, and poor adaptability (unable to adapt to different width gaps). There is no method of temporarily connecting two photovoltaic panel cleaning robots and realizing automatic and stable obstacle crossing through cooperative control. SUMMARY

[0004] The present application provides a double photovoltaic panel cleaning robot obstacle crossing method based on master-slave cooperative control to realize automatic and stable obstacle crossing through temporary connection and cooperative control of two photovoltaic panel cleaning robots.

[0005] In order to achieve the above purpose, the technical solution adopted by the present application is as follows: A double photovoltaic panel cleaning robot obstacle crossing method based on master-slave cooperative control, the method applies a photovoltaic panel cleaning robot, characterized in that the photovoltaic panel cleaning robot comprises a driving chassis, a photovoltaic panel cleaner, a docking device, a sensor and a controller, the photovoltaic panel cleaner is arranged at the front end of the driving chassis, the docking device is arranged at the rear end of the driving chassis, the sensor is arranged on the driving chassis, and the controller is signal connected with the control end of the driving chassis, the control end of the docking device and the sensor. The method comprises the following steps: S1, at least two photovoltaic panel cleaning robots are arranged on a group of photovoltaic panels, and a sensor on one photovoltaic panel cleaning robot identifies the distance L between the current group of photovoltaic panels and an adjacent group of photovoltaic panels and uploads the controller, and judges whether the distance L is within a set distance range; S2, when the distance L is within the set distance range, the controllers of the two photovoltaic panel cleaning robots control the corresponding driving chassis to move, so that the two photovoltaic panel cleaning robots drive to a pre-docking position; S3, the controllers of the two photovoltaic panel cleaning robots control the corresponding docking devices to move, so that the docking devices of the two photovoltaic panel cleaning robots are connected; S4, the controller of the front photovoltaic panel cleaning robot controls the corresponding driving chassis to drive forward, the controller of the rear photovoltaic panel cleaning robot controls the corresponding driving chassis to drive reversely, until the two photovoltaic panel cleaning robots cross the distance L and drive to the adjacent group of photovoltaic panels; S5, the controllers of the two photovoltaic panel cleaning robots control the corresponding connectors to act, so that the connectors of the two photovoltaic panel cleaning robots are separated.

[0006] Further, the sensor is a visual sensor; In S1, the distance L is recognized by the visual sensor; In S2, the visual sensor is used to take pictures and upload the controller to visually mark the photovoltaic panel cleaning robot to position, so that the two photovoltaic panel cleaning robots drive to the pre-docking position; In S3, during the connection of the connector, the visual sensor is used to take pictures and upload the controller to visually mark the photovoltaic panel cleaning robot to position, so that the two photovoltaic panel cleaning robots drive to the pre-docking position; In S4, the visual sensor is used to take pictures and upload the controller to visually mark the photovoltaic panel cleaning robot to position, so that the two photovoltaic panel cleaning robots drive to the pre-docking position; or the visual sensor is used to take pictures and upload the controller to visually mark the photovoltaic panel cleaning robot to position, so that the two photovoltaic panel cleaning robots drive to the pre-docking position.

[0007] Further, the connector is an electromagnetic connector.

[0008] Further, the end of the connector is provided with a docking block, and the two connectors are connected through the docking block. The end of the docking block of one connector is sequentially provided with a first step, a first upper protruding part, a first groove and a first lower protruding part from top to bottom; and the end of the docking block of the other connector is sequentially provided with a second upper protruding part, a second groove, a second lower protruding part and a second step from top to bottom. When the docking block is connected, the first upper protruding part is embedded in the second groove, the second lower protruding part is embedded in the first groove, the end of the second upper protruding part abuts against the first step, and the end of the first lower protruding part abuts against the second step.

[0009] Further, the method further comprises a host computer, and the host computer is in signal connection with the controller of each photovoltaic panel cleaning robot.

[0010] Further, in S1, the distance range is greater than the distance that a single photovoltaic panel cleaning robot crosses and less than the distance that two photovoltaic panel cleaning robots cooperatively cross.

[0011] The beneficial technical effects of the present application are: The double photovoltaic panel cleaning robot obstacle crossing method based on master-slave cooperative control of the application is adapted to the standard photovoltaic panel cleaning robot adapter and sensor, without the need for customizing special robots for the distance between adjacent two groups of photovoltaic panels, and can cross the large distance (such as 20cm-70cm) between adjacent groups of photovoltaic panels, with high obstacle crossing reliability; when crossing the obstacle after cleaning a group of photovoltaic panels, two standard photovoltaic panel cleaning robots can be temporarily connected through the method of the application, and automatic and stable obstacle crossing can be realized through cooperative control, and after obstacle crossing, the two standard photovoltaic panel cleaning robots are separated, and each continues to clean the second group of photovoltaic panels, without the need for manual intervention to realize continuous cleaning operation, with high efficiency and low cost. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a flowchart of the double photovoltaic panel cleaning robot obstacle crossing method based on master-slave cooperative control of the embodiment of the application; Figure 2 It is a perspective view of one photovoltaic panel cleaning robot of the embodiment of the application; Figure 3 It is a perspective view of another photovoltaic panel cleaning robot of the embodiment of the application; Figure 4 It is a perspective view of the two photovoltaic panel cleaning robots connected as a whole through the adapter of the embodiment of the application; Figure 5 It is a perspective view of the two photovoltaic panel cleaning robots connected as a whole through the adapter of the embodiment of the application; Figure 4 It is a local enlarged view of position A in FIG. 8. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical scheme and beneficial effects of the application clearer and more apparent, the application will be further described in detail below in combination with specific embodiments and with reference to the drawings. Some but not all of the embodiments of the application will be shown in the drawings. In fact, various embodiments of the application can be implemented in many different forms, and should not be interpreted as being limited to the embodiments described herein; on the contrary, these embodiments are provided to meet the applicable legal requirements.

[0014] In the description of the application, it should be noted that the terms "inner", "outer", "upper", "lower", "front", "rear" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0015] Please refer to Figures 1 to 5As shown, a kind of double photovoltaic panel cleaning robot obstacle crossing method based on master-slave cooperative control, the method applies photovoltaic panel cleaning robot and host computer, photovoltaic panel cleaning robot includes drive chassis 1, photovoltaic panel cleaner 2, docking device 3, sensor 4 and controller.Drive chassis 1 is set to track chassis, and the front end of drive chassis 1 is provided with photovoltaic panel cleaner 2, and photovoltaic panel cleaner 2 is used to clean photovoltaic panel.The rear end of drive chassis 1 is provided with docking device 3, and the docking device 3 on two robots is connected to make two robots connected as a whole.Drive chassis 1 is provided with sensor 4, and sensor 4 is set as visual sensor.The controller is signal-connected with the control end of drive chassis 1, the control end of docking device 3 and sensor 4.

[0016] Docking device 3 is set as electromagnetic docking device, the control end of docking device 3 is triggered by controller, so that two docking devices 3 are magnetically connected by energizing docking device 3, or the control end of docking device 3 is triggered by controller, so that two docking devices 3 are separated by de-energizing docking device 3.

[0017] The end of docking device 3 is provided with docking block, and two docking devices 3 are connected through docking block.The end of the docking block of one docking device 3 is sequentially provided with first step 311, first upper protruding part 312, first recess 313 and first lower protruding part 314 from top to bottom;The end of the docking block of another docking device 3 is sequentially provided with second upper protruding part 321, second recess 322, second lower protruding part 323 and second step 324 from top to bottom.When two docking blocks are connected, first upper protruding part 312 is embedded in second recess 322, second lower protruding part 323 is embedded in first recess 313, the end of second upper protruding part 321 abuts against first step 311, and the end of first lower protruding part 314 abuts against second step 324.

[0018] Docking device 3 is set as electromagnetic docking device, and two docking devices 3 (docking blocks) are magnetically connected to realize the limiting of two docking blocks in horizontal direction (X axis, Y axis direction).

[0019] In the process of connecting two robots as a whole to cross distance L, the connection place (docking device 3) of two robots needs to bear larger bending moment in vertical direction.Through the docking block with the above structure, docking device 3 can bear larger bending moment in vertical direction, so as to ensure that two robots are connected firmly, and the robot can stably cross obstacles (cross distance L).

[0020] The host computer is signal-connected with the controller of each photovoltaic panel cleaning robot.The host computer is used to receive the signal uploaded by controller and process, keep communication with the controller of each robot, and send control instruction to the controller of each robot.

[0021] The double photovoltaic panel cleaning robot obstacle crossing method based on master-slave cooperative control of the application includes the following steps: S1, identify the distance between adjacent groups of photovoltaic panels At least two photovoltaic panel cleaning robots are arranged on a group of photovoltaic panels, and the at least two photovoltaic panel cleaning robots perform cleaning work on the current group of photovoltaic panels.

[0022] After the photovoltaic panel cleaning robot completes the cleaning work on the current group of photovoltaic panels, the sensor 4 (vision sensor) on one photovoltaic panel cleaning robot (leading robot) identifies the boundary position of the current group of photovoltaic panels and identifies the distance L between the current group of photovoltaic panels and the adjacent group of photovoltaic panels and uploads the controller, and judges whether the distance L is within the set distance range. The set distance range is greater than the single photovoltaic panel cleaning robot crossing distance (such as 15 cm) and less than the two photovoltaic panel cleaning robots cooperative crossing distance (such as 70 cm).

[0023] S2, drive to the pre-docking position When the distance L is within the set distance range, the controller on the leading robot sends a cooperative obstacle crossing request signal to the upper computer, and the upper computer calls the other photovoltaic panel cleaning robot (following robot) closest to the distance.

[0024] The controllers of the two photovoltaic panel cleaning robots (leading robot and following robot) control the corresponding drive chassis 1 to move, so that the two photovoltaic panel cleaning robots drive to the pre-docking position. Among them, the photovoltaic panel cleaning robot is positioned by the vision sensor shooting and uploading the controller for visual marking, so that the two photovoltaic panel cleaning robots drive to the pre-docking position.

[0025] S3, robot docking The controllers of the two photovoltaic panel cleaning robots control the corresponding docking device 3 to move, so that the docking devices 3 of the two photovoltaic panel cleaning robots are connected. Among them, in the process of connecting the docking device 3, the vision sensor is used to shoot and upload the controller to judge whether the docking device 3 is successfully connected or not.

[0026] After the docking device 3 is successfully connected, the key states of the two robots are verified by the main control system (the controller of the leading robot or the upper computer), including: battery capacity, driving wheel grip, current inclination angle, etc., to ensure that the robot meets the basic safety conditions for obstacle crossing.

[0027] The main control system assigns roles to the two robots, and the leading robot is responsible for environmental perception, path planning and motion guidance, and the following robot receives instructions from the leading robot and synchronously executes.

[0028] The main control system calculates a temporary "double rigid connection model" in real time according to the connection state, current posture and distance L width of the two robots, and predicts the center of gravity change and moment distribution in the obstacle crossing process based on the model.

[0029] S4, Cooperate to cross obstacles The controller of the front photovoltaic panel cleaning robot controls the corresponding drive chassis 1 to move forward, and the controller of the rear photovoltaic panel cleaning robot controls the corresponding drive chassis 1 to move backward, until the two photovoltaic panel cleaning robots cross a distance L and move to the adjacent group of photovoltaic panels. Among them, the photovoltaic panel cleaning robot is positioned by the vision sensor shooting and uploading the controller for visual marking to determine the position of the two photovoltaic panel cleaning robots; or the position of the two photovoltaic panel cleaning robots is determined by the vision sensor shooting and uploading the controller for image recognition.

[0030] Differential motion control when cooperating to cross obstacles: When crossing obstacles, the front end of the drive chassis 1 of the leading robot is first suspended or in contact with the edge of the opposite photovoltaic panel, and part of its weight is borne by the following robot. The main control system sends instructions to the following robot, and the drive chassis 1 of the following robot provides the main propulsion force, while sending instructions to the leading robot, and the drive chassis 1 of the leading robot provides appropriate adhesion to prevent the robot combination from being unbalanced front and back. By precisely controlling the speed difference of the drive chassis 1 of the two robots, the balance adjustment of the connection (adapter 3) of the two robots is realized, and it is ensured that the connection (adapter 3) does not bear excessive bending moment in the vertical direction.

[0031] Real-time posture adjustment when cooperating to cross obstacles: The overall posture angle is monitored in real time by the IMU (Inertial Measurement Unit) built-in the two robots. Once it is detected that the pitch angle of the robot combination is too large (there is a risk of falling backward) or the roll angle is abnormal (there is a risk of sliding sideways), the main control system immediately dynamically adjusts the power output of the drive chassis 1 of the two robots, performs dynamic trim, and ensures smooth and safe crossing.

[0032] S5, Robot disengagement The controllers of the two photovoltaic panel cleaning robots control the corresponding adapters 3 to act, so that the adapters 3 of the two photovoltaic panel cleaning robots are disengaged.

[0033] After the two photovoltaic panel cleaning robots are disengaged, the current group of photovoltaic panels where the two photovoltaic panel cleaning robots are located are cleaned by the two photovoltaic panel cleaning robots.

[0034] So far, the embodiment has been described in detail in combination with the drawings. According to the above description, those skilled in the art should have a clear understanding of the double photovoltaic panel cleaning robot obstacle crossing method based on master-slave cooperative control. The double photovoltaic panel cleaning robot obstacle crossing method based on master-slave cooperative control of the application is adapted to the standard photovoltaic panel cleaning robot adapter 3 and sensor 4, without the need for customizing special robots for the distance between adjacent two groups of photovoltaic panels, and can cross a large distance (such as 20-70 cm) between adjacent groups of photovoltaic panels, with high obstacle crossing reliability. When cleaning a group of photovoltaic panels needs to cross obstacles, two standard photovoltaic panel cleaning robots can be temporarily docked through the method of the application, and automatic and stable obstacle crossing can be realized through cooperative control. After obstacle crossing, the two standard photovoltaic panel cleaning robots are separated, and each continues to clean the second group of photovoltaic panels. Without manual intervention, continuous cleaning operation can be realized, with high efficiency and low cost.

[0035] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the application. It should be understood that the above description is only for specific embodiments of the application and is not intended to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application should be included in the protection scope of the application.

Claims

1. A method for obstacle avoidance of a dual photovoltaic panel cleaning robot based on master-slave cooperative control, the method applying a photovoltaic panel cleaning robot, characterized in that, The photovoltaic panel cleaning robot comprises a driving chassis, a photovoltaic panel cleaner, a docking device, a sensor and a controller, the photovoltaic panel cleaner is arranged at the front end of the driving chassis, the docking device is arranged at the rear end of the driving chassis, the sensor is arranged on the driving chassis, and the controller is signal connected with the control end of the driving chassis, the control end of the docking device and the sensor. The method comprises the following steps: S1, at least two photovoltaic panel cleaning robots are arranged on a group of photovoltaic panels, the sensor on one photovoltaic panel cleaning robot identifies the distance L between the current group of photovoltaic panels and the adjacent group of photovoltaic panels and uploads the controller, and it is judged whether the distance L is within the set distance range; S2, when the distance L is within the set distance range, the controllers of the two photovoltaic panel cleaning robots control the corresponding driving chassis to move, so that the two photovoltaic panel cleaning robots drive to the pre-docking position; S3, the controllers of the two photovoltaic panel cleaning robots control the corresponding docking devices to move, so that the docking devices of the two photovoltaic panel cleaning robots are connected; S4, the controller of the front photovoltaic panel cleaning robot controls the corresponding driving chassis to move forward, the controller of the rear photovoltaic panel cleaning robot controls the corresponding driving chassis to move backward, until the two photovoltaic panel cleaning robots cross the distance L and drive to the adjacent group of photovoltaic panels; S5, the controllers of the two photovoltaic panel cleaning robots control the corresponding docking devices to move, so that the docking devices of the two photovoltaic panel cleaning robots are disconnected. 2.The obstacle crossing method for a dual-PV panel cleaning robot based on master-slave cooperative control according to claim 1, wherein, The sensor is a visual sensor; In S1, the distance L is identified by the visual sensor; In S2, the visual sensor takes pictures and uploads the controller to visually mark the photovoltaic panel cleaning robot to position it, so that the two photovoltaic panel cleaning robots drive to the pre-docking position; In S3, during the connection of the docking devices, the visual sensor takes pictures and uploads the controller to identify images to judge whether the docking devices are successfully connected; In S4, the visual sensor takes pictures and uploads the controller to visually mark the photovoltaic panel cleaning robot to position it, so as to judge the position of the two photovoltaic panel cleaning robots; or the visual sensor takes pictures and uploads the controller to identify images, so as to judge the position of the two photovoltaic panel cleaning robots. 3.The obstacle crossing method for the dual-PV panel cleaning robot based on master-slave cooperative control according to claim 1, wherein, The docking device is an electromagnetic docking device.

4. The obstacle crossing method for the dual-PV panel cleaning robot based on master-slave cooperative control according to claim 1 or 3, characterized in that, The docking block is arranged at the end of the docking device, and the two docking devices are connected through the docking block; The end of the docking block of one docking device is sequentially provided with a first step, a first upper protruding part, a first groove and a first lower protruding part from top to bottom; the end of the docking block of the other docking device is sequentially provided with a second upper protruding part, a second groove, a second lower protruding part and a second step from top to bottom; When the docking blocks are connected, the first upper protruding part is embedded in the second groove, the second lower protruding part is embedded in the first groove, the end of the second upper protruding part abuts against the first step, and the end of the first lower protruding part abuts against the second step. 5.The obstacle crossing method for a dual-PV panel cleaning robot based on master-slave cooperative control according to claim 1, wherein, The method further uses an upper computer, and the upper computer is signal connected with the controller of each photovoltaic panel cleaning robot. 6.The obstacle crossing method for a dual-photovoltaic panel cleaning robot based on master-slave cooperative control according to claim 1, wherein, In S1, the set distance range is greater than the distance that a single photovoltaic panel cleaning robot crosses and less than the distance that two photovoltaic panel cleaning robots cooperatively cross.

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