Motion control method and device and robot

Abstract

The embodiment of the invention provides a motion control method and device and a robot, and relates to the technical field of automatic control. The method is applied to a robot comprising a distance measuring sensor and a vacuum adsorption cavity with a built-in air pressure sensor. The method comprises the following steps: acquiring a real-time height value and a real-time air pressure value; the real-time height value is a distance value between the distance measuring sensor and the front object surface; the real-time air pressure value is the air pressure value in the vacuum adsorption cavity; if the real-time height value is larger than a preset height threshold value, the movement speed of the robot is controlled to be a preset speed value; and under the condition that the robot moves at the preset speed value, if the real-time height value is larger than a preset height threshold value and the real-time air pressure value is larger than a preset air pressure threshold value, the robot is controlled to execute an anti-falling action. Therefore, the motion control method provided by the embodiment of the invention can reduce the falling risk of the robot.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a motion control method, device and robot. Background Technology

[0002] With the large-scale application of photovoltaic power generation technology, the cleaning and maintenance of photovoltaic modules has become a key aspect of ensuring power generation efficiency. Tracked cleaning robots, with their unique structural design, can stably adapt to complex environments such as rooftops, demonstrating enormous potential in the field of photovoltaic module cleaning and maintenance.

[0003] Currently, to prevent the risk of tracked cleaning robots falling when working at the edge of photovoltaic modules, edge detection sensors are installed on the robots. When the sensors detect that the robot is at the edge of a photovoltaic module, an emergency stop command is immediately triggered, thus preventing the robot from falling through emergency braking.

[0004] However, the emergency braking response of tracked cleaning robots is delayed. When emergency braking occurs, a portion of the robot's structure may already be over the edge and suspended in mid-air. In this situation, emergency braking may not only fail to provide protection but could also disrupt the robot's stability and balance due to the violent shift in the center of gravity and inertial swaying, thereby increasing the risk of the robot falling. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a motion control method, device, and robot that can reduce the risk of tracked cleaning robots falling.

[0006] The embodiments of this application disclose the following technical solutions:

[0007] In a first aspect, this application discloses a motion control method applied to a robot, the robot including a ranging sensor and a vacuum adsorption cavity with a built-in air pressure sensor, the method comprising:

[0008] The system acquires real-time altitude and real-time air pressure values; the real-time altitude value is the distance between the ranging sensor and the surface of the object in front; the real-time air pressure value is the air pressure inside the vacuum adsorption chamber.

[0009] If the real-time height value is greater than the preset height threshold, then the robot's movement speed is controlled to the preset speed value;

[0010] If the real-time height value is greater than the preset height threshold and the real-time air pressure value is greater than the preset air pressure threshold when the robot is moving at the preset speed value, then the robot is controlled to perform a fall prevention action.

[0011] Optionally, if the real-time height value is greater than the preset height threshold, and the real-time air pressure value is greater than the preset air pressure threshold, then controlling the robot to perform a fall prevention action includes:

[0012] If the real-time height value is greater than the preset height threshold, and the real-time air pressure value is greater than the preset air pressure threshold, and the cumulative distance the robot travels at the preset speed value is greater than the preset distance threshold, then the robot is controlled to perform a backward movement; the angle between the direction of the backward movement and the initial forward direction is in the range of 90°-180°; the preset distance threshold is positively correlated with the length of the robot.

[0013] Optionally, the cumulative distance is the product of the preset speed value and the time difference; the time difference is the time difference between the current moment and the first moment; the first moment is the starting moment when the robot moves at the preset speed value.

[0014] Optionally, controlling the robot to perform a backward movement includes:

[0015] The robot is controlled to perform a backward movement until the real-time air pressure value drops back to within the preset air pressure threshold, and the robot's movement speed is controlled to be 0.

[0016] Optionally, the method further includes:

[0017] If the real-time height value falls below the preset height threshold when the robot is moving at the preset speed value, then the robot's movement speed is controlled to a normal speed value; the normal speed value is greater than the preset speed value.

[0018] Optionally, the method further includes:

[0019] If the robot moves at the preset speed value, and the cumulative distance traveled by the robot at the preset speed value is less than or equal to a preset distance threshold, and if the real-time altitude value falls back to within the preset altitude threshold, and / or the real-time air pressure value falls back to within the preset air pressure threshold, then the robot's movement speed is controlled to a normal speed value; the normal speed value is greater than the preset speed value.

[0020] Optionally, the robot includes multiple vacuum adsorption chambers with built-in pressure sensors;

[0021] If the real-time altitude value is greater than the preset altitude threshold, and the real-time air pressure value is greater than the preset air pressure threshold, and the cumulative distance the robot has traveled at the preset speed value is greater than the preset distance threshold, then controlling the robot to perform a backward movement includes:

[0022] If the real-time height value is greater than the preset height threshold, and the real-time air pressure value of the target vacuum adsorption chamber is greater than the preset air pressure threshold, and the cumulative distance the robot travels at the preset speed value is greater than the preset distance threshold, then the robot is controlled to perform backward movement; the target vacuum adsorption chamber is the vacuum adsorption chamber located at the foremost position among the multiple vacuum adsorption chambers when the robot moves towards the initial forward direction.

[0023] Optionally, the preset height threshold is the sum of a preset height value and a safety margin value; the preset height value is the height difference between the working plane of the robot and the distance sensor.

[0024] Optionally, the step of controlling the robot's movement speed to a preset speed value if the real-time height value is greater than a preset height threshold includes:

[0025] The real-time height value is filtered to obtain the processed height value;

[0026] If the processed height value is greater than a preset height threshold, then the robot's movement speed is controlled to a preset speed value.

[0027] Secondly, this application discloses a motion control device for use in a robot, the robot including a distance sensor and a vacuum adsorption cavity with a built-in air pressure sensor, the device including: a data acquisition module, a speed control module and a direction control module;

[0028] The data acquisition module is used to acquire real-time altitude and real-time air pressure values; the real-time altitude value is the distance between the ranging sensor and the surface of the object in front; the real-time air pressure value is the air pressure value inside the vacuum adsorption chamber.

[0029] The speed control module is used to control the robot's movement speed to a preset speed value if the real-time height value is greater than a preset height threshold.

[0030] The direction control module is used to control the robot to perform a fall prevention action if the real-time height value is greater than the preset height threshold and the real-time air pressure value is greater than the preset air pressure threshold when the robot is moving at the preset speed value.

[0031] Optionally, the direction control module is specifically used to: if the real-time height value is greater than the preset height threshold, and the real-time air pressure value is greater than the preset air pressure threshold, and the cumulative distance the robot has traveled at the preset speed value is greater than the preset distance threshold, then control the robot to perform backward movement; the angle between the direction of the backward movement and the initial forward direction is in the range of 90°-180°; the preset distance threshold is positively correlated with the length of the robot.

[0032] Optionally, the cumulative distance is the product of the preset speed value and the time difference; the time difference is the time difference between the current moment and the first moment; the first moment is the starting moment when the robot moves at the preset speed value.

[0033] Optionally, the direction control module is specifically used to: control the robot to perform backward movement until the real-time air pressure value falls back to within the preset air pressure threshold, and control the robot's movement speed to 0.

[0034] Optionally, the device further includes: a first normal module;

[0035] The first normal module is configured to, when the robot is moving at the preset speed value, if the real-time height value falls back to within the preset height threshold, control the robot's movement speed to a normal speed value; the normal speed value is greater than the preset speed value.

[0036] Optionally, the device further includes: a second normal module;

[0037] The second normal module is configured to control the robot's movement speed to a normal speed value when the robot moves at the preset speed value and the cumulative distance traveled by the robot at the preset speed value is less than or equal to a preset distance threshold, and / or the real-time height value falls back to within the preset height threshold, and / or the real-time air pressure value falls back to within the preset air pressure threshold; the normal speed value is greater than the preset speed value.

[0038] Optionally, the robot includes multiple vacuum adsorption chambers with built-in air pressure sensors; the direction control module is specifically used to: if the real-time height value is greater than the preset height threshold, and the real-time air pressure value of the target vacuum adsorption chamber is greater than the preset air pressure threshold, and the cumulative distance traveled by the robot at the preset speed value is greater than the preset distance threshold, then control the robot to perform backward movement; the target vacuum adsorption chamber is the vacuum adsorption chamber located at the foremost position among the multiple vacuum adsorption chambers when the robot moves in the initial forward direction.

[0039] Optionally, the preset height threshold is the sum of a preset height value and a safety margin value; the preset height value is the height difference between the working plane of the robot and the distance sensor.

[0040] Optionally, the speed control module is specifically used to: filter the real-time height value to obtain a processed height value; if the processed height value is greater than a preset height threshold, control the robot's movement speed to a preset speed value.

[0041] Thirdly, this application discloses a robot, which includes: a ranging sensor, a vacuum adsorption chamber with a built-in air pressure sensor, a memory, and a processor;

[0042] The memory is used to store computer programs or computer instructions;

[0043] The processor is configured to execute computer programs or computer instructions stored in the memory, causing the robot to perform the motion control method as described in the first aspect.

[0044] Compared with the prior art, this application has the following advantages:

[0045] This application provides a motion control method, device, and robot. The method is applied to a robot with a vacuum adsorption cavity including a ranging sensor and a built-in air pressure sensor. The method includes: acquiring real-time height and real-time air pressure values; the real-time height value is the distance between the ranging sensor and the surface of an object in front; the real-time air pressure value is the air pressure value inside the vacuum adsorption cavity; if the real-time height value is greater than a preset height threshold, the robot's movement speed is controlled to a preset speed value; while the robot is moving at the preset speed value, if the real-time height value is greater than the preset height threshold and the real-time air pressure value is greater than a preset air pressure threshold, the robot is controlled to perform a fall prevention action. Therefore, in the motion control method provided by this application, when the real-time height value is greater than the preset height threshold, the robot is triggered to slow down, which can avoid inertial swaying to a certain extent; when both the ranging sensor and the air pressure sensor continuously meet the dangerous conditions (while the robot is moving at the preset speed value, the real-time height value is greater than the preset height threshold and the real-time air pressure value is greater than the preset air pressure threshold), the robot is controlled to perform a fall prevention action, thereby improving the robot's balance stability and reducing the risk of falling. Furthermore, in the motion control method provided in this application embodiment, the robot will only be controlled to perform anti-fall actions when both the ranging sensor and the barometric pressure sensor meet the dangerous conditions. This also reduces false alarms caused by sensors (such as encountering gaps between photovoltaic modules or stains on the surface of photovoltaic modules), thereby improving the effectiveness of edge detection. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A bottom view and a side view of a robot provided for embodiments of this application;

[0048] Figure 2 A schematic diagram of a robot ranging sensor provided in an embodiment of this application;

[0049] Figure 3 A flowchart of a motion control method provided in an embodiment of this application;

[0050] Figure 4 This application provides a schematic diagram illustrating the preliminary determination of a robot's arrival at an edge.

[0051] Figure 5 A schematic diagram illustrating the determination of a robot's arrival at an edge, provided as an embodiment of this application;

[0052] Figure 6 A flowchart of another motion control method provided in the embodiments of this application;

[0053] Figure 7 This is a schematic diagram of a motion control device provided in an embodiment of this application. Detailed Implementation

[0054] As described earlier, to prevent the risk of tracked cleaning robots falling when working at the edges of photovoltaic modules, edge detection sensors are currently installed on these robots. When the sensors detect that the tracked cleaning robot is at the edge of a photovoltaic module, an emergency stop command is immediately triggered, thereby preventing the robot from falling through emergency braking.

[0055] However, the emergency braking response of tracked cleaning robots is delayed. When emergency braking occurs, a portion of the robot's structure may already be over the edge and suspended in mid-air. In this situation, emergency braking may not only fail to provide protection but could also disrupt the robot's stability and balance due to the violent shift in the center of gravity and inertial swaying, thereby increasing the risk of the robot falling.

[0056] Through research, the inventors have proposed a motion control method, device, and robot. In the motion control method provided in this application, when the real-time height value exceeds a preset height threshold, the robot is triggered to slow down, which can, to some extent, avoid inertial swaying. When both the ranging sensor and the barometric pressure sensor continuously meet the dangerous conditions (the real-time height value is greater than the preset height threshold while the robot is moving at a preset speed, and the real-time barometric pressure value is greater than the preset barometric pressure threshold), the robot is controlled to perform an anti-fall action, thereby improving the robot's balance stability and reducing the risk of falling. Furthermore, in the motion control method provided in this application, the robot is only controlled to perform an anti-fall action when both the ranging sensor and the barometric pressure sensor meet the dangerous conditions, which also reduces false alarms caused by sensors (such as encountering gaps between photovoltaic modules or stains on the surface of photovoltaic modules), thereby improving the effectiveness of edge detection.

[0057] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0058] See Figure 1 The figure shows a bottom view and a side view of a robot provided in an embodiment of this application. Figure 1 As shown, two sweeping brushes are installed at the front and rear ends of the robot, respectively. To reduce the risk of the robot falling off the edge of the photovoltaic module, a ranging sensor 1 is installed at each of the left and right ends of at least one sweeping brush. The ranging sensor 1 can be an ultrasonic sensor, a lidar sensor, a millimeter-wave radar sensor, or other sensor used for edge detection.

[0059] See Figure 2 This figure is a schematic diagram of a robot ranging sensor provided in an embodiment of this application. Taking an ultrasonic sensor as an example, as... Figure 2 As shown, there is a preset angle θ (e.g., in the range of 15°-30°) between the main ultrasonic beam direction 3 and the vertical direction 4 of the ultrasonic sensor, which enables the ranging sensor 1 to perform edge detection before the robot reaches the edge, thereby reducing the risk of the robot falling off the edge of the photovoltaic module.

[0060] Furthermore, two vacuum adsorption chambers 2 are located at the front and rear of the robot's bottom central axis, each integrating an independent fan and pressure sensor. When the robot is working, the fan in the vacuum adsorption chamber 2 starts operating, rapidly extracting air from the chamber and creating a negative pressure environment (e.g., 85 kPa) lower than the external atmospheric pressure. The adsorption force of the negative pressure environment, combined with the robot's own weight, significantly increases the friction between the robot and the photovoltaic module's surface. Even in scenarios with large tilt angles or smooth surfaces (e.g., photovoltaic modules after rain), this effectively prevents the robot from slipping or falling, further improving the robot's stability and safety during edge operations.

[0061] It should be noted that the above embodiments are only illustrated using two ranging sensors and two vacuum adsorption chambers as examples. In practical applications, the number of ranging sensors and vacuum adsorption chambers can be set according to the actual operation requirements of the robot (such as the length of the robot). This application does not limit the specific number of ranging sensors and vacuum adsorption chambers.

[0062] See Figure 3 This figure is a flowchart of a motion control method provided in an embodiment of this application. The method is applied to a robot with a vacuum adsorption cavity including a ranging sensor and a built-in air pressure sensor. The method includes:

[0063] S301: Acquire real-time altitude and real-time air pressure values; the real-time altitude value is the distance between the distance sensor and the surface of the object in front; the real-time air pressure value is the air pressure inside the vacuum adsorption chamber.

[0064] Real-time height values ​​are collected by a ranging sensor mounted on the front of the robot's brush. The physical meaning of real-time height is the straight-line distance between the ranging sensor and the surface of the object being detected in front. When the robot moves normally on the surface of the photovoltaic module, this "object surface in front" is the surface of the photovoltaic module. As the robot gradually approaches the edge of the photovoltaic module, this "object surface in front" becomes the ground (or other object) away from the ranging sensor, causing a jump in the real-time height value.

[0065] The real-time air pressure value is collected by air pressure sensors integrated inside the front and rear vacuum adsorption chambers at the bottom of the robot. The physical meaning of the real-time air pressure value is: the air pressure inside the vacuum adsorption chamber.

[0066] In one specific implementation, real-time altitude and real-time air pressure values ​​can be collected synchronously or asynchronously at a fixed sampling frequency. For example, the sampling frequency can be 10Hz (i.e., real-time altitude and real-time air pressure values ​​are collected every 100 milliseconds). This avoids introducing too much transient noise, ensuring that the collected data is closer to the real state, while also guaranteeing the real-time performance of motion control, giving the robot enough time to trigger deceleration and turning actions, thus ensuring operational safety.

[0067] S302: If the real-time height value is greater than the preset height threshold, then control the robot's movement speed to the preset speed value.

[0068] The preset height threshold is the sum of a preset height value and a safety margin value. The preset height value is the vertical height difference between the robot's working plane (i.e., the plane of the photovoltaic module it is positioned on) and the ranging sensor; the safety margin value (e.g., 0.3m) is a tolerance buffer introduced to compensate for various uncertainties in actual operation. These uncertainties include, but are not limited to: measurement errors of the ranging sensor itself, slight flatness differences in the photovoltaic module array, and vibrations during robot movement. Introducing a safety margin value effectively prevents false alarms caused by minor fluctuations, ensuring the accuracy of alarms.

[0069] On the one hand, if the real-time height value is less than or equal to the preset height threshold, it is determined that the robot is moving normally on the surface of the photovoltaic module and there is no risk of approaching the edge. At this time, the robot can continue to move at a normal speed (e.g., 0.5m / s to 1m / s) to ensure that the work efficiency is not affected.

[0070] See Figure 4 This figure is a schematic diagram illustrating a preliminary determination of robot arrival at the edge according to an embodiment of this application. On the other hand, if the real-time height value is greater than a preset height threshold, it indicates that the surface of the object in front of the robot has changed from the surface of the photovoltaic module to the ground (or other objects) far away from the ranging sensor, thus preliminarily determining that the robot has arrived at the edge (e.g., ...). Figure 4 (As shown). At this point, the robot's movement speed needs to be limited to a low, safe preset speed value (e.g., 0.3 m / s), and the first alarm indication needs to be triggered, indicating that the robot has entered the edge warning state.

[0071] In one specific implementation, the preset speed value can be determined based on the size of the photovoltaic module. Specifically, for photovoltaic modules with a smaller width, a lower preset speed value (e.g., 0.2 m / s) can be determined to ensure the robot has sufficient adjustment space in the edge area. In another specific implementation, the preset speed value can be determined based on the tilt angle of the photovoltaic module. Specifically, if the tilt angle of the photovoltaic module is large (e.g., above 30°), the risk of the robot falling in the edge area is higher, so a lower preset speed value (e.g., 0.2 m / s) can be determined to reduce the downward trend caused by inertia. If the tilt angle of the photovoltaic module is close to 0 (e.g., flat installation on a roof), a higher preset speed value (e.g., 0.4 m / s) can be determined. In yet another specific implementation, the preset speed value can be determined based on the robot's braking performance. Specifically, for robots with good braking performance, a higher preset speed value (e.g., 0.4 m / s) can be determined to balance the robot's operating efficiency within a safe range. It should be noted that this application does not limit the specific preset speed value, as long as it is lower than the robot's normal speed value.

[0072] In one specific implementation, if the real-time height value is less than or equal to a preset height threshold (i.e., the real-time height value falls back to within the preset height threshold) while the robot is moving at a preset speed, it is determined that the robot is crossing a gap on the surface of the photovoltaic module or that a false detection has occurred. The first alarm indication is a false alarm, and there is actually no risk of approaching the edge. At this point, it is necessary to control the robot's movement speed to restore it to a normal speed value to ensure the continuity of the robot's operation. The normal speed value is greater than the preset speed value.

[0073] S303: If the real-time height value is greater than the preset height threshold and the real-time air pressure value is greater than the preset air pressure threshold when the robot is moving at a preset speed value, then control the robot to perform an anti-fall action.

[0074] See Figure 5 This figure is a schematic diagram illustrating how to determine if a robot has reached an edge, according to an embodiment of this application. When the robot moves at a preset speed, if the real-time height value is greater than a preset height threshold, and the real-time air pressure value is greater than a preset air pressure threshold, then the robot is determined to have reached an edge (e.g., ...). Figure 5As shown, there is a risk of falling. This is because when the robot is firmly attached to the surface of the photovoltaic module, the fan inside the vacuum adsorption chamber continuously operates, thus stabilizing the real-time air pressure at a low negative pressure level (e.g., ≤85 kPa). However, when the robot moves to the edge of the photovoltaic module, causing the vacuum adsorption chamber to be partially or completely suspended, the sealed environment of the chamber is disrupted, and outside air rushes in rapidly, causing the air pressure inside the chamber to rise sharply and continuously approach the local atmospheric pressure (approximately 100 kPa). For example, the preset air pressure threshold could be 95 kPa. In this case, it is necessary to control the robot to perform anti-fall actions.

[0075] For example, the anti-fall action could be: controlling the robot to perform a backward movement until the robot's vacuum adsorption chamber returns completely to the plane of the photovoltaic module, restoring an effective seal, so that the real-time air pressure value is again lower than the preset air pressure threshold.

[0076] In summary, this application provides a motion control method. In this method, when the real-time height value exceeds a preset height threshold, the robot is triggered to slow down, which can, to some extent, prevent inertial swaying. When both the ranging sensor and the barometric pressure sensor continuously meet the dangerous conditions (the real-time height value is greater than the preset height threshold while the robot is moving at a preset speed, and the real-time barometric pressure value is greater than the preset barometric pressure threshold), the robot is controlled to perform an anti-fall action, thereby improving the robot's balance stability and reducing the risk of falling. Furthermore, the motion control method provided in this application only controls the robot to perform an anti-fall action when both the ranging sensor and the barometric pressure sensor meet the dangerous conditions, which also reduces false alarms caused by sensors (such as encountering gaps between photovoltaic modules or stains on the surface of photovoltaic modules), thereby improving the effectiveness of edge detection.

[0077] See Figure 6 This figure is a flowchart of another motion control method provided in an embodiment of this application. The method is applied to a robot with a vacuum adsorption cavity including a ranging sensor and a built-in air pressure sensor. The method includes:

[0078] S601: Acquires real-time altitude and real-time air pressure values; the real-time altitude value is the distance between the distance sensor and the surface of the object in front; the real-time air pressure value is the air pressure value inside the vacuum adsorption chamber.

[0079] It is understandable that step S601 is similar to step S301, so it will not be described again here.

[0080] S602: Filter the real-time height value to obtain the processed height value.

[0081] In actual robot operation scenarios, ranging sensors are susceptible to various interference factors, resulting in significant noise in real-time height values. For example, interference factors may include: first, periodic or non-periodic mechanical vibrations generated when the robot's tracked walking mechanism comes into contact with uneven surfaces of photovoltaic modules (such as module splicing gaps or minor surface protrusions); second, airflow, temperature gradient changes, and electromagnetic interference in the environment.

[0082] Therefore, the motion control method provided in this application embodiment filters the real-time height value. For example, the filtering process can be at least one of Kalman filtering, sliding window averaging filtering, and amplitude-limiting averaging filtering. The Kalman filtering algorithm can estimate the true state value (i.e., the processed height value) in real time through a "prediction-update" loop. Thus, the error of the processed height value is typically less than 0.5 cm, improving the accuracy of edge detection.

[0083] S603: If the processed height value is greater than the preset height threshold, control the robot's movement speed to the preset speed value and trigger the first alarm indication.

[0084] On the one hand, if the processed height value is less than or equal to the preset height threshold, it is determined that the robot is moving normally on the surface of the photovoltaic module and there is no risk of approaching the edge. At this time, the robot can continue to move at a normal speed (e.g., 0.5m / s to 1m / s) to ensure that the work efficiency is not affected.

[0085] On the other hand, if the processed height value is greater than the preset height threshold, it indicates that the surface of the object in front of the robot has changed from the surface of the photovoltaic module to the ground (or other objects) far away from the ranging sensor, initially determining that the robot has reached the edge (e.g., Figure 4 (As shown). At this point, it is necessary to: First, limit the robot's movement speed to a low, safe preset speed value (e.g., 0.3 m / s); Second, trigger the first alarm indication, indicating that the robot has entered the edge warning state; Third, determine the starting time of the robot's movement at the preset speed value as the first moment.

[0086] In a specific implementation, such as Figure 6 As shown in step A1, if the real-time height value is less than or equal to a preset height threshold (i.e., the real-time height value falls back to within the preset height threshold) while the robot is moving at a preset speed, it is determined that the robot is crossing a gap on the surface of the photovoltaic module or that a false detection has occurred. The first alarm indication is a false alarm, and there is actually no risk of approaching the edge. At this time, it is necessary to control the robot's movement speed to restore it to the normal speed value to ensure the continuity of the robot's operation. The normal speed value is greater than the preset speed value.

[0087] S604: If, when the robot is moving at a preset speed, the processed height value is greater than a preset height threshold, the real-time air pressure value is greater than a preset air pressure threshold, and the cumulative distance the robot has traveled at the preset speed is greater than a preset distance threshold, then the robot is controlled to perform a backward movement.

[0088] The robot will move backward if all three of the following conditions are met simultaneously: First, the processed height value is greater than a preset height threshold. If the processed height value is greater than the preset height threshold, it indicates that the robot may have moved to the edge. Second, the real-time air pressure value is greater than a preset air pressure threshold. If the real-time air pressure value is greater than the preset air pressure threshold, it indicates that the robot's chassis has lost effective adhesion and has begun to leak air. Third, the cumulative distance the robot has traveled at a preset speed value is greater than a preset distance threshold. The cumulative distance is the product of the preset speed value and the time difference, where the time difference is the time difference between the current moment and the first moment (the starting moment of the robot's movement at the preset speed value). If the robot's cumulative distance is greater than the preset distance threshold, it indicates that the robot has moved a sufficiently long distance, potentially approaching the edge.

[0089] It should be noted that the angle between the direction of the backward movement and the initial forward direction can be any value between 90° and 180°.

[0090] It should also be noted that the preset distance threshold is a safety value that is positively correlated with the robot's length, for example, 1 / 8 of the robot's length. This design is based on the principle of center of gravity: theoretically, the robot will fall when its center of gravity crosses the edge. Therefore, the preset distance threshold provides a sufficient safety margin; the robot only needs to move a relatively short preset distance threshold (much smaller than the robot's length) to trigger backward movement, thus preventing the center of gravity from completely crossing the edge.

[0091] In one specific implementation, if the processed height value is greater than a preset height threshold, and the real-time air pressure value of the target vacuum adsorption cavity is greater than a preset air pressure threshold, and the cumulative distance traveled by the robot at a preset speed value is greater than a preset distance threshold, then the robot is controlled to perform a backward movement. The target vacuum adsorption cavity is the vacuum adsorption cavity located at the foremost position among multiple vacuum adsorption cavities when the robot moves in the initial forward direction. This is because, when the robot moves in the initial forward direction, the vacuum adsorption cavity located at the foremost position among multiple vacuum adsorption cavities (i.e., the target vacuum adsorption cavity) will arrive at and cross the edge of the photovoltaic module first. Therefore, by detecting the real-time air pressure value of the target vacuum adsorption cavity, the earliest fall risk signal can be captured.

[0092] In a specific implementation, such as Figure 6As shown in step A2, if the robot moves at a preset speed and the cumulative distance traveled at that speed is less than or equal to a preset distance threshold, then the robot's movement speed is considered relatively safe, and the robot remains within a theoretically very safe range where its center of gravity will not dangerously shift. At this point, if the real-time height value is less than or equal to a preset height threshold (i.e., the real-time height value falls back to within the preset height threshold), and / or the real-time air pressure value is less than or equal to a preset air pressure threshold (i.e., the real-time air pressure value falls back to within the preset air pressure threshold), then the robot's movement speed is controlled to a normal speed value, thereby ensuring the continuity of the robot's operation. The normal speed value is greater than the preset speed value.

[0093] S605: When the robot is performing backward movement, if the real-time air pressure value is less than or equal to the preset air pressure threshold, the robot's movement speed will be controlled to 0, and a second alarm indication will be triggered.

[0094] When the robot performs a backward movement, if the real-time air pressure value is less than or equal to a preset air pressure threshold (i.e., the real-time air pressure value falls back to within the preset air pressure threshold), it can be determined that the robot's chassis is completely in a safe area and its center of gravity is stable. At this time, the robot's movement speed is controlled to 0 by the braking module of the drive motor (such as an electromagnetic brake), and the robot's drive motor is locked (to prevent any misoperation from causing the robot to move again). A second alarm indication is also triggered, indicating that the robot has executed and completed the emergency avoidance procedure and requires human attention. It is understood that the second alarm indication may include the robot's location information to facilitate quick location and handling by maintenance personnel.

[0095] In summary, this application provides a motion control method. In this method, when the real-time height value exceeds a preset height threshold, the robot is triggered to slow down, which can, to some extent, prevent inertial swaying. When both the ranging sensor and the barometric pressure sensor continuously meet the dangerous conditions (the real-time height value is greater than the preset height threshold while the robot is moving at a preset speed, and the real-time barometric pressure value is greater than the preset barometric pressure threshold), the robot is controlled to perform an anti-fall action, thereby improving the robot's balance stability and reducing the risk of falling. Furthermore, the motion control method provided in this application only controls the robot to perform an anti-fall action when both the ranging sensor and the barometric pressure sensor meet the dangerous conditions, which also reduces false alarms caused by sensors (such as encountering gaps between photovoltaic modules or stains on the surface of photovoltaic modules), thereby improving the effectiveness of edge detection.

[0096] See Figure 7This figure is a schematic diagram of a motion control device provided in an embodiment of this application. The device is applied to a robot with a vacuum adsorption cavity including a ranging sensor and a built-in air pressure sensor. The motion control device 700 includes: a data acquisition module 701, a speed control module 702, and a direction control module 703.

[0097] The data acquisition module 701 is used to acquire real-time altitude and real-time air pressure values; the real-time altitude value is the distance between the distance sensor and the surface of the object in front; the real-time air pressure value is the air pressure value inside the vacuum adsorption chamber.

[0098] The speed control module 702 is used to control the robot's movement speed to the preset speed value if the real-time height value is greater than the preset height threshold.

[0099] The direction control module 703 is used to control the robot to perform a fall prevention action when the robot is moving at a preset speed value and the real-time height value is greater than a preset height threshold and the real-time air pressure value is greater than a preset air pressure threshold.

[0100] In one specific implementation, the direction control module 703 is specifically used to: control the robot to perform backward movement if the real-time height value is greater than a preset height threshold, the real-time air pressure value is greater than a preset air pressure threshold, and the cumulative distance the robot has traveled at a preset speed value is greater than a preset distance threshold; the angle between the direction of the backward movement and the initial forward direction is in the range of 90°-180°; the preset distance threshold is positively correlated with the length of the robot.

[0101] In one specific implementation, the cumulative distance is the product of the preset speed value and the time difference; the time difference is the time difference between the current moment and the first moment; the first moment is the starting moment when the robot moves at the preset speed value.

[0102] In one specific implementation, the direction control module 703 is specifically used to: control the robot to perform backward movement until the real-time air pressure value drops back to within the preset air pressure threshold, and control the robot's movement speed to be 0.

[0103] In one specific implementation, the motion control device 700 further includes: a first normal module;

[0104] The first normal module is used to control the robot's movement speed to the normal speed value if the real-time height value falls back to within the preset height threshold when the robot is moving at a preset speed value; the normal speed value is greater than the preset speed value.

[0105] In one specific implementation, the motion control device 700 further includes: a second normal module;

[0106] The second normal module is used to control the robot's movement speed to the normal speed value when the robot moves at a preset speed value and the cumulative distance of the robot's movement at the preset speed value is less than or equal to a preset distance threshold. If the real-time height value falls back to within the preset height threshold and / or the real-time air pressure value falls back to within the preset air pressure threshold, the normal speed value is greater than the preset speed value.

[0107] In one specific implementation, the robot includes multiple vacuum adsorption cavities with built-in air pressure sensors; the direction control module 703 is specifically used to: control the robot to perform backward movement if the real-time height value is greater than a preset height threshold, and the real-time air pressure value of the target vacuum adsorption cavity is greater than a preset air pressure threshold, and the cumulative distance traveled by the robot at a preset speed value is greater than a preset distance threshold; the target vacuum adsorption cavity is the vacuum adsorption cavity located at the foremost position among the multiple vacuum adsorption cavities when the robot moves in the initial forward direction.

[0108] In one specific implementation, the preset height threshold is the sum of the preset height value and the safety margin value; the preset height value is the height difference between the robot's working plane and the distance sensor.

[0109] In one specific implementation, the speed control module 702 is specifically used to: filter the real-time height value to obtain the processed height value; if the processed height value is greater than a preset height threshold, then control the robot's movement speed to the preset speed value.

[0110] In summary, this application provides a motion control device. When the real-time height value exceeds a preset height threshold, the robot is triggered to slow down, which can prevent inertial swaying to some extent. When both the ranging sensor and the barometric pressure sensor continuously meet the dangerous conditions (the real-time height value is greater than the preset height threshold while the robot is moving at a preset speed, and the real-time barometric pressure value is greater than the preset barometric pressure threshold), the robot is controlled to perform an anti-fall action, thereby improving the robot's balance stability and reducing the risk of falling. Furthermore, the motion control device provided in this application only controls the robot to perform an anti-fall action when both the ranging sensor and the barometric pressure sensor meet the dangerous conditions, which also reduces false alarms caused by sensors (such as encountering gaps between photovoltaic modules or stains on the surface of photovoltaic modules), thereby improving the effectiveness of edge detection.

[0111] This application discloses a robot, which includes: a ranging sensor, a vacuum adsorption cavity with a built-in air pressure sensor, a memory, and a processor; the memory is used to store computer programs or computer instructions; the processor is used to execute the computer programs or computer instructions stored in the memory, so that the robot performs the motion control method described above.

[0112] The robot provided in this application embodiment has the beneficial effects of the motion control method described above.

[0113] In the embodiments of this application, the terms "first" and "second" (if they exist) are used only as name identifiers and do not represent the order of first and second.

[0114] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus a general-purpose hardware platform. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as a read-only memory (ROM) / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0115] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the system and method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and medium embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components indicated as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0116] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A motion control method, characterized in that, Applied to a robot, the robot including a ranging sensor and a vacuum adsorption chamber with a built-in pressure sensor, the method includes: The system acquires real-time altitude and real-time air pressure values; the real-time altitude value is the distance between the ranging sensor and the surface of the object in front; the real-time air pressure value is the air pressure inside the vacuum adsorption chamber. If the real-time height value is greater than the preset height threshold, then the robot's movement speed is controlled to the preset speed value; If the real-time height value is greater than the preset height threshold and the real-time air pressure value is greater than the preset air pressure threshold when the robot is moving at the preset speed value, then the robot is controlled to perform a fall prevention action.

2. The method according to claim 1, characterized in that, If the real-time height value is greater than the preset height threshold, and the real-time air pressure value is greater than the preset air pressure threshold, then the robot is controlled to perform a fall prevention action, including: If the real-time height value is greater than the preset height threshold, and the real-time air pressure value is greater than the preset air pressure threshold, and the cumulative distance the robot travels at the preset speed value is greater than the preset distance threshold, then the robot is controlled to perform a backward movement; the angle between the direction of the backward movement and the initial forward direction is in the range of 90°-180°; the preset distance threshold is positively correlated with the length of the robot.

3. The method according to claim 2, characterized in that, The cumulative distance is the product of the preset speed value and the time difference; the time difference is the time difference between the current moment and the first moment; the first moment is the starting moment when the robot moves at the preset speed value.

4. The method according to claim 2, characterized in that, Controlling the robot to perform a backward movement includes: The robot is controlled to perform a backward movement until the real-time air pressure value drops back to within the preset air pressure threshold, and the robot's movement speed is controlled to be 0.

5. The method according to claim 1, characterized in that, The method further includes: If the real-time height value falls below the preset height threshold when the robot is moving at the preset speed value, then the robot's movement speed is controlled to a normal speed value; the normal speed value is greater than the preset speed value.

6. The method according to claim 1, characterized in that, The method further includes: If the robot moves at the preset speed value, and the cumulative distance traveled by the robot at the preset speed value is less than or equal to a preset distance threshold, and if the real-time altitude value falls back to within the preset altitude threshold, and / or the real-time air pressure value falls back to within the preset air pressure threshold, then the robot's movement speed is controlled to a normal speed value; the normal speed value is greater than the preset speed value.

7. The method according to claim 2, characterized in that, The robot includes multiple vacuum adsorption chambers with built-in air pressure sensors; If the real-time altitude value is greater than the preset altitude threshold, and the real-time air pressure value is greater than the preset air pressure threshold, and the cumulative distance the robot has traveled at the preset speed value is greater than the preset distance threshold, then controlling the robot to perform a backward movement includes: If the real-time height value is greater than the preset height threshold, and the real-time air pressure value of the target vacuum adsorption chamber is greater than the preset air pressure threshold, and the cumulative distance the robot travels at the preset speed value is greater than the preset distance threshold, then the robot is controlled to perform backward movement; the target vacuum adsorption chamber is the vacuum adsorption chamber located at the foremost position among the multiple vacuum adsorption chambers when the robot moves towards the initial forward direction.

8. The method according to claim 1, characterized in that, The preset height threshold is the sum of the preset height value and the safety margin value; the preset height value is the height difference between the working plane of the robot and the distance sensor.

9. The method according to claim 1, characterized in that, If the real-time height value is greater than a preset height threshold, then controlling the robot's movement speed to a preset speed value includes: The real-time height value is filtered to obtain the processed height value; If the processed height value is greater than a preset height threshold, then the robot's movement speed is controlled to a preset speed value.

10. A motion control device, characterized in that, Applied to robots, the robot includes a distance sensor and a vacuum adsorption cavity with a built-in air pressure sensor, and the device includes: a data acquisition module, a speed control module, and a direction control module; The data acquisition module is used to acquire real-time altitude and real-time air pressure values; the real-time altitude value is the distance between the ranging sensor and the surface of the object in front; the real-time air pressure value is the air pressure value inside the vacuum adsorption chamber. The speed control module is used to control the robot's movement speed to a preset speed value if the real-time height value is greater than a preset height threshold. The direction control module is used to control the robot to perform a fall prevention action if the real-time height value is greater than the preset height threshold and the real-time air pressure value is greater than the preset air pressure threshold when the robot is moving at the preset speed value.

11. A robot, characterized in that, The robot includes: a ranging sensor, a vacuum adsorption chamber with a built-in air pressure sensor, a memory, and a processor; The memory is used to store computer programs or computer instructions; The processor is configured to execute computer programs or computer instructions stored in the memory, causing the robot to perform the motion control method as described in any one of claims 1 to 9.

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