A method and system for recognizing the grabbing state of a photovoltaic panel paving robot

Abstract

The application relates to the technical field of photovoltaic panel paving equipment control, and particularly discloses a grabbing state recognition method and system based on a photovoltaic panel paving robot, which comprises the following steps: collecting a pressure time sequence of a vacuum adsorption system of the robot in real time, calculating a pressure difference value sequence negative value proportion, obtaining a decay judgment value, performing decay signal trigger judgment, extracting a historical adsorption signal group set if the decay signal is triggered, analyzing the relevance of adsorption pressure decay and posture deviation, synchronously collecting photovoltaic panel core point coordinates and calculating a posture compensation amount, evaluating compensation feasibility, calculating adsorption failure critical time under linear and nonlinear conditions if the compensation is feasible, combining historical installation time to predict the remaining time of current adsorption, comparing the failure critical time with the current adsorption predicted remaining time, and performing normal operation or emergency disposal as required, so that the adsorption decay recognition accuracy and timeliness of the photovoltaic panel paving robot in the grabbing state recognition are improved.

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