Robot suction cup control system and cleaning robot

Abstract

The utility model provides a robot suction cup control system and a cleaning robot. The robot suction cup control system comprises a main control module which is used for generating a suction cup driving signal, a telescopic driving signal and a lifting driving signal; the suction cup activation module is electrically connected with the main control module and is used for receiving the suction cup driving signal and activating suction force of the first suction cup, the second suction cup and the body suction cup; the sucker lifting driving module is used for enabling the first sucker to get close to or away from the photovoltaic panel and the second sucker to get close to or away from the photovoltaic panel; and the suction cup telescopic driving module is electrically connected with the main control module and used for enabling the first telescopic mechanism to drive the first suction cup to be close to or away from the robot body and enabling the second telescopic mechanism to drive the second suction cup to be close to or away from the robot body. Through the same master control module, control of lifting, suction activation and stretching of the suction cup is achieved, and the requirements for movement of gaps and steps between photovoltaic panels are met.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robots, and in particular to a robot suction cup control system and a cleaning robot. Background Art

[0002] Outdoor solar photovoltaic panels are assembled into arrays of rectangular panels to form a solar photovoltaic power station. This creates gaps and steps between panels. The surface of the photovoltaic panels is glass, similar to window glass. Generally, working surfaces with an angle of less than 15 degrees can be cleaned using a crawler vehicle that uses mechanical gravity to move along a track. Existing cleaning robots typically consist of a robot body, a crawler motion mechanism, and a cleaning device mounted on the robot body. The cleaning device cleans the photovoltaic panels as the tracks move.

[0003] However, with the advancement of technology, there are application scenarios for photovoltaic panels with higher angles (working surfaces inclined at no less than 15 degrees). Based on this, it is necessary to provide a cleaning robot with the ability to absorb and move photovoltaic panels. Taking the cleaning robot disclosed in application number CN202310000580.3 as an example, it is displaced by two sets of traveling devices including driving wheels, driven wheels and tracks, and is provided with a walking adsorption device and a central adsorption device. When the cleaning robot uses the traveling device to move along a preset trajectory, the walking adsorption device can be adsorbed to the surface of the photovoltaic panel to increase the safety of the cleaning robot during movement. When the cleaning robot turns, the central adsorption device is adsorbed to the surface of the photovoltaic panel, and the walking adsorption device is separated from the photovoltaic panel, and the central adsorption device is used to drive the vehicle body to turn. Although the above method improves the stability of the cleaning robot on an inclined working surface, the cleaning robot using the suction cup control system of the above technical solution has a reduced cleaning efficiency when there are certain gaps and steps between the templates.

[0004] Therefore, it is urgent to design a new robot suction cup control system and cleaning robot suitable for the above application scenarios to meet the needs of practical applications. Utility Model Content

[0005] The purpose of this application is to provide a robot suction cup control system and a cleaning robot to solve the demand problems of existing robot suction cup control systems.

[0006] The purpose of this application is achieved by the following technical solutions:

[0007] In a first aspect, the present application provides a robot suction cup control system, which is applied to a cleaning robot, wherein the cleaning robot is used for an inclined angle working surface, the cleaning robot includes a robot body, the cleaning robot also includes a first suction cup, a second suction cup, a first lifting mechanism, a second lifting mechanism, a first telescopic mechanism, a second telescopic mechanism, and a body suction cup; the robot suction cup control system includes:

[0008] A main control module, which is used to generate a suction cup drive signal, a telescopic drive signal, and a lifting drive signal;

[0009] a suction cup activation module, the suction cup activation module being electrically connected to the main control module and configured to receive the suction cup drive signal and activate the suction of the first suction cup, the second suction cup, and the main body suction cup;

[0010] a suction cup lifting drive module, the suction cup lifting drive module being electrically connected to the main control module and configured to receive the lifting drive signal and enable the first lifting mechanism to drive the first suction cup toward or away from the photovoltaic panel; and further configured to receive the lifting drive signal and enable the second lifting mechanism to drive the second suction cup toward or away from the photovoltaic panel;

[0011] The suction cup telescopic drive module is electrically connected to the main control module, and is used to receive the telescopic drive signal and enable the first telescopic mechanism to drive the first suction cup closer to or away from the robot body; it is also used to receive the telescopic drive signal and enable the second telescopic mechanism to drive the second suction cup closer to or away from the robot body.

[0012] In the second aspect, the present application provides a cleaning robot, which is used for cleaning photovoltaic panels. The cleaning robot includes a robot body, a first suction cup and a second suction cup symmetrically arranged at both ends of the robot body, a body suction cup arranged on a side of the robot body close to the photovoltaic panel, and a first telescopic mechanism arranged between the first suction cup and the robot body, a second telescopic mechanism arranged between the second suction cup and the robot body, and a first lifting mechanism arranged on the first suction cup, and a second lifting mechanism arranged on the second suction cup; and also includes a robot suction cup control system described in any one of the first aspects.

[0013] With the help of the above technical solution, the robot suction cup control system and cleaning robot provided by this application have at least the following beneficial effects: through the same main control module, unified control of multiple suction cup mechanisms of the cleaning robot is performed, and its control methods include suction cup lifting, suction activation and suction cup extension and retraction. The cleaning robot using the above suction cup control system can adapt to the gaps and steps between photovoltaic panels, as well as photovoltaic panels of different thicknesses and inclination angles, thereby enhancing the adaptability of the cleaning robot and avoiding the reduction of cleaning work efficiency due to certain gaps and steps between the templates. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present application is further described below with reference to the accompanying drawings and examples.

[0015] Figure 1 This is a structural block diagram of a robot suction cup control system provided by an embodiment of the present application;

[0016] Figure 2 This is a circuit diagram of an ash dump motor drive module provided in an embodiment of the present application;

[0017] Figure 3 This is a circuit diagram of a suction cup activation module provided in an embodiment of the present application;

[0018] Figure 4 This is a circuit diagram of a suction cup lifting drive module provided in an embodiment of the present application;

[0019] Figure 5 This is a circuit diagram of a suction cup telescopic drive module provided in an embodiment of the present application;

[0020] Figure 6 This is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application;

[0021] Figure 7 This is a schematic diagram of a cleaning robot in one state provided by an embodiment of the present application;

[0022] Figure 8 is a schematic diagram of a cleaning robot provided by an embodiment of the present application in another state;

[0023] Figure 9 This is a schematic diagram of a cleaning robot provided in an embodiment of the present application in another state. DETAILED DESCRIPTION

[0024] Below, the present application is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0025] Example 1

[0026] See also Figure 1 The present application provides a robot suction cup control system for a cleaning robot. The cleaning robot is used for working on an inclined working surface, where the inclined working surface refers to a photovoltaic panel working surface with an inclination of not less than 15 degrees (e.g., an inclination angle not exceeding 45 degrees, 50 degrees, 55 degrees, etc.). The cleaning robot includes a robot body, a first suction cup, a second suction cup, a first lifting mechanism, a second lifting mechanism, a first telescopic mechanism, a second telescopic mechanism, and a main body suction cup. The robot suction cup control system includes:

[0027] A main control module, which is used to generate a suction cup drive signal, a telescopic drive signal, and a lifting drive signal;

[0028] a suction cup activation module, the suction cup activation module being electrically connected to the main control module and configured to receive the suction cup drive signal and activate the suction of the first suction cup, the second suction cup, and the main body suction cup; specifically, the suction cup drive signal may include a first suction cup drive signal, a second suction cup drive signal, and a third suction cup drive signal, which respectively activate the suction of the first suction cup, the second suction cup, and the main body suction cup;

[0029] a suction cup lifting drive module, the suction cup lifting drive module being electrically connected to the main control module, and configured to receive the lifting drive signal and enable the first lifting mechanism to drive the first suction cup toward or away from the photovoltaic panel; and further configured to receive the lifting drive signal and enable the second lifting mechanism to drive the second suction cup toward or away from the photovoltaic panel; specifically, the lifting drive signal may include a first lifting drive signal and a second lifting drive signal, which respectively correspond to enabling the first suction cup and the second suction cup to approach or move away from the photovoltaic panel;

[0030] The suction cup telescopic drive module is electrically connected to the main control module, and is used to receive the telescopic drive signal and enable the first telescopic mechanism to drive the first suction cup close to or away from the robot body; it is also used to receive the telescopic drive signal and enable the second telescopic mechanism to drive the second suction cup close to or away from the robot body; specifically, the telescopic drive signal may include a first telescopic drive signal and a second telescopic drive signal, which respectively correspond to enabling the first suction cup and the second suction cup to approach or move away from the robot body.

[0031] The main control module can include a main control chip, such as an ARM or PCL (Programmable Logic Controller) processor (MCU). The suction cup activation module is electrically connected to the main control module and is responsible for receiving suction cup drive signals from the main control module. Upon receiving the suction cup drive signal, it activates the suction of one or more of the first suction cup, the second suction cup, and the main body's suction mechanism, causing the activated suction cup to firmly adhere to the surface of the photovoltaic panel, allowing the cleaning robot to move and cross between panels. The suction cup lift drive module is responsible for controlling the vertical movement of the suction cups. When the suction of a suction cup is lost, the lift drive module receives the lift drive signal from the main control module and controls the corresponding lift mechanism (the first lift mechanism or the second lift mechanism) to move the corresponding suction cup closer to or farther from the photovoltaic panel. This helps accommodate photovoltaic panels of varying thicknesses and tilt angles, as well as cross gaps and steps between panels. The suction cup extension drive module receives the extension drive signal from the main control module and controls the first and second extension mechanisms, allowing the suction cups to extend and retract along the robot body. This helps to adjust the distance between the suction cup and the robot body during the cleaning process to adapt to the gaps and steps between photovoltaic panels, and also helps to maintain close contact between the suction cup and the photovoltaic panel during the cleaning process.

[0032] Therefore, the suction cup control system provided in this embodiment uses the same main control module to uniformly control multiple suction cup mechanisms of the cleaning robot. Its control methods include suction cup lifting, suction activation and suction cup extension and retraction. The cleaning robot using the above suction cup control system can adapt to the gaps and steps between photovoltaic panels, as well as photovoltaic panels of different thicknesses and inclination angles, thereby enhancing the adaptability of the cleaning robot and avoiding the reduction in cleaning efficiency caused by certain gaps and steps between the panels.

[0033] As an example, a cleaning robot using the above suction cup control system is provided. Figure 7 In the state, the lifting drive signal includes a first lifting drive signal and a second lifting drive signal, which respectively control the first suction cup and the second suction cup to move away from the photovoltaic panel. At the same time, the telescopic drive signal includes a first telescopic drive signal and a second telescopic drive signal, which respectively realize that one of the first suction cup and the second suction cup is close to the robot body and the other is away from the robot body. In this case, since the main body suction cup is set on the side of the robot body close to the photovoltaic panel, the third suction cup drive signal of the suction cup drive signal activates the suction force of the main body suction cup, so that the cleaning robot is positioned on the photovoltaic panel.

[0034] exist Figure 8In the state, the first lifting drive signal and the second lifting drive signal respectively control the first suction cup and the second suction cup to approach until they touch the photovoltaic panel; the first suction cup drive signal and the second suction cup drive signal activate the suction of the first suction cup and the second suction cup, and the third suction cup drive signal turns off the suction of the main body suction cup.

[0035] exist Figure 9 In the state, the first telescopic driving signal, the second telescopic driving signal and Figure 7 The difference in state is that the other of the first suction cup and the second suction cup is close to the robot body and the other is far away from the robot body. Figure 9 The robot body shown moves from the position of one suction cup to the position of another suction cup, thereby realizing the movement of the cleaning robot to adapt to the gaps and steps between the photovoltaic panels.

[0036] See also Figure 2 In some embodiments, the main control module is further configured to generate an ash dumping drive signal; the robot suction cup control system further includes an ash dumping motor drive module, the ash dumping motor drive module including an ash dumping motor drive circuit and an ash dumping motor, the ash dumping motor drive circuit including a first diode D1, a first transistor Q1, a third resistor R3, and a first capacitor C1, the base of the first transistor Q1 is connected to the ash dumping drive signal, the collector of the first transistor Q1 is connected to the ground terminal (GND), and the emitter of the first transistor Q1 is connected to the first pin ( Figure 2 1), the second pin of the ash pouring motor ( Figure 2 2) is connected to the first voltage VCC, the positive electrode of the first diode D1 is connected to the first pin of the ash dumping motor, and the negative electrode of the first diode D1 is connected to the second pin of the ash dumping motor; the collector of the first transistor Q1 is also connected to the first monitoring terminal of the main control module through the third resistor R3 and the first analog-to-digital converter, and the first capacitor C1 is arranged between the junction of the first analog-to-digital converter and the third resistor R3 and the collector of the first transistor Q1.

[0037] The main control module is responsible for generating the ash dump drive signal that controls the operation of the ash dump motor. This drive signal activates the ash dump motor and starts it operating. The ash dump motor drive circuit converts the ash dump drive signal from the main control module into an electrical signal capable of controlling the ash dump motor. The base of the first transistor Q1 receives the ash dump drive signal. When the ash dump drive signal is activated, the transistor conducts, allowing current to flow from the collector to the emitter, thereby driving the ash dump motor. The collector is directly grounded, while the emitter is connected to the first pin of the ash dump motor, providing the current path required for motor operation. The third resistor R3 connects the collector of the first transistor Q1 to the first analog-to-digital converter, which converts the motor status (such as current or voltage) into a digital signal for monitoring by the main control module. The first capacitor C1 is located between the junction of the first analog-to-digital converter and the third resistor R3 and the collector of the first transistor Q1 to filter out noise and stabilize the signal.

[0038] This allows control of the ash dump motor. The first diode D1 provides reverse electromotive force protection, reducing the risk of damage to the motor and circuit due to reverse electromotive force. Through the first analog-to-digital converter, the main control module can monitor the operating status of the ash dump motor in real time, enabling more precise control.

[0039] See also Figure 3 In some embodiments, the suction cup activation module includes at least three sets of suction cup activation circuits and vacuum pumps corresponding to the first suction cup, the second suction cup, and the main body suction cup, respectively. The suction cup activation circuit includes a second diode D2, a second transistor Q2, a seventh resistor R7, and a second capacitor C2.

[0040] The base of the second transistor Q2 is connected to the suction cup driving signal, the collector of the second transistor Q2 is connected to the ground terminal, and the emitter of the second transistor Q2 is connected to the first pin of the vacuum pump ( Figure 3 1), the second pin of the vacuum pump ( Figure 3 2) is connected to the first voltage VCC, the anode of the second diode D2 is connected to the first pin of the vacuum pump, and the cathode of the second diode D2 is connected to the second pin of the vacuum pump; the collector of the second transistor Q2 is also connected to the second monitoring terminal of the main control module through the seventh resistor R7 and the second analog-to-digital converter, and the second capacitor C2 is provided between the junction of the second analog-to-digital converter and the seventh resistor R7 and the collector of the second transistor Q2.

[0041] The suction cup activation module includes at least three suction cup activation circuits, one for each suction cup (the first suction cup, the second suction cup, and the main suction cup), and its associated vacuum pump. Each suction cup activation circuit consists of a second diode D2, a second transistor Q2, a seventh resistor R7, and a second capacitor C2. These circuits control the operation of the corresponding vacuum pump, thereby activating the suction cup. The base of the second transistor Q2 receives a suction cup drive signal. When the suction cup drive signal is activated, the transistor conducts, allowing current to flow from the collector to the emitter, powering the vacuum pump. The collector is directly grounded, while the emitter is connected to the first pin of the vacuum pump, providing the current path required for vacuum pump operation. The seventh resistor R7 connects the collector of the second transistor Q2 to a second analog-to-digital converter, which converts the vacuum pump status (such as current or voltage) into a digital signal for monitoring by the main control module. The second capacitor C2 is located between the junction of the second analog-to-digital converter and the seventh resistor R7 and the collector of the second transistor Q2, potentially used to filter out noise and stabilize the signal.

[0042] This allows for precise control of each suction cup through independent suction cup activation circuits, ensuring effective adhesion to the photovoltaic panel. A second diode, D2, provides reverse EMF protection, reducing the risk of damage to the vacuum pump and circuitry. Using a second analog-to-digital converter, the main control module monitors the vacuum pump's operating status, including current and voltage, in real time, enabling more precise control and fault diagnosis.

[0043] In some embodiments, the suction cup lift drive module includes a suction cup lift circuit and a suction cup lift motor assembly. The suction cup lift circuit is disposed between the main control module and the suction cup lift motor assembly and is configured to receive the lift drive signal and drive the motor in the suction cup lift motor assembly. It can be considered that when the motor in the suction cup lift motor assembly is driven, it drives the connected lifting mechanism (the first lifting mechanism or the second lifting mechanism), which in turn drives the corresponding suction cup toward or away from the photovoltaic panel via the lifting mechanism (the first lifting mechanism or the second lifting mechanism).

[0044] The suction cup lift circuit, located between the main control module and the suction cup lift motor assembly, serves as a control interface, receiving lift drive signals from the main control module. These signals indicate whether the suction cup should rise or fall. When the main control module issues lift drive signals for any one or more suction cups, the suction cup lift circuit interprets these signals and converts them into a corresponding voltage or current to drive the motors in the suction cup lift motor assembly. The motors in the suction cup lift motor assembly are indirectly connected to the suction cups via a mechanical connection (such as a gear, rack, or connecting rod mechanism) through the lift mechanism (either the first or second lift mechanism), ensuring that the motor's rotational motion is converted into linear lift motion for the suction cups.

[0045] See also Figure 3In some embodiments, the suction cup lifting circuit includes a ninth resistor R9, a first Zener diode ZD1, a third capacitor C3, a fourth capacitor C4, a first comparator and a first motor driver chip, the output end of the first motor driver chip is electrically connected to the motor in the suction cup lifting motor group and provides electrical energy, the first end of the first motor driver chip is connected to the first control signal output end of the main control module to receive the lifting drive signal, the second end of the first motor driver chip is connected to the ground end, the third end of the first motor driver chip is connected to the first steering signal output end of the main control module, and the fourth end of the first motor driver chip is connected to the main The first encoder input terminal of the control module outputs the second voltage +3V3 through the ninth resistor R9, and the fifth terminal of the first motor driver chip is connected to the first voltage VCC; the second terminal of the first motor driver chip is also connected to the same-direction input terminal of the first comparator, and the reverse input terminal of the first comparator is connected to the output terminal of the first comparator to realize a positive feedback loop, and the same-direction input terminal of the first comparator is also connected to the ground terminal through the fourth capacitor C4, and the output terminal of the first comparator is also connected to the third monitoring terminal of the main control module through the third analog-to-digital converter, and the fourth terminal of the first motor driver chip is also connected to the ground terminal through the third capacitor C3. Among them, the first terminal, the second terminal, the third terminal, the fourth terminal, and the fifth terminal of the first motor driver chip are connected to the ground terminal through the third capacitor C3. Figure 3 The inverting input terminal of the first comparator is marked as IN-, the positive input terminal is marked as IN+, and the output terminal is marked as OUT.

[0046] The suction cup lifting circuit is used to convert the control signal of the main control module into driving power for the suction cup lifting motor group. The first motor driver chip receives the signal from the main control module and controls the connected motor according to the signal to realize the lifting and lowering action of the suction cup. Its first end receives the first timing signal from the main control module for synchronizing the action of the motor. The second end is grounded to provide a reference potential for the chip. The third end receives the first steering signal from the main control module for determining the rotation direction of the motor. The fourth end receives the first encoder input signal from the main control module and outputs a second voltage +3V3 through the ninth resistor R9 for feedback of the motor position or speed information. The fifth end is connected to the first voltage VCC to provide power for the chip. The first comparator is used to compare two voltages or signals. Specifically, its non-inverting input end is connected to the ground end through the fourth capacitor C4 to stabilize the input signal, and the reverse input end is connected to the output end of the comparator to form a feedback loop. The third analog-to-digital converter converts the output signal of the first comparator into a digital signal for monitoring by the main control module to provide feedback on the status of the motor.

[0047] Thus, through precise control of the first motor driver chip and the first comparator, precise control of the motors in the suction cup lift motor assembly can be achieved, improving the accuracy of the lifting action. The use of Zener diodes and capacitors helps stabilize the power supply and signal, prevent noise interference, and improve system reliability. The third analog-to-digital converter allows the main control module to monitor the motor status in real time, achieving closed-loop control and improving system stability.

[0048] In some embodiments, the suction cup extension and retraction drive module includes a suction cup extension and retraction circuit and a suction cup extension and retraction motor assembly. The suction cup extension and retraction circuit is disposed between the main control module and the suction cup extension and retraction motor assembly, and is configured to receive the extension and retraction drive signal and drive the motor in the suction cup extension and retraction motor assembly. It can be considered that when the motor in the suction cup extension and retraction motor assembly is driven, it drives the connected extension and retraction mechanism (the first extension and retraction mechanism or the second extension and retraction mechanism), which in turn drives the corresponding suction cup toward or away from the robot body through the extension and retraction mechanism (the first extension and retraction mechanism or the second extension and retraction mechanism).

[0049] The suction cup extension and retraction circuit is located between the main control module and the suction cup extension and retraction motor group. It serves as a control interface to receive the extension and retraction drive signal sent by the main control module. The extension and retraction drive signal indicates whether the suction cup should extend forward or backward.

[0050] The suction cup retraction motor assembly includes multiple motors that physically retract and retract the suction cup. These motors can be stepper motors, servo motors, or DC motors. These motors are indirectly connected to the suction cup via a mechanical connection (such as a gear, rack, or linkage) within the retraction mechanism (either the primary or secondary retraction mechanism), ensuring that the motor's rotational motion is converted into linear retraction and retraction motion.

[0051] Therefore, by adjusting the extension and retraction distance of the suction cup, the cleaning robot can move more flexibly in the photovoltaic panel array, improving its ability to operate in complex environments.

[0052] See also Figure 5In some embodiments, the suction cup extension circuit includes a tenth resistor R10, a second Zener diode ZD2, a fifth capacitor C5, a sixth capacitor C6, a second comparator and a second motor drive chip, the output end of the second motor drive chip is electrically connected to the motor in the suction cup extension motor group and provides power, the first end of the second motor drive chip is connected to the second control signal output end of the main control module to receive the extension drive signal, the second end of the second motor drive chip is connected to the ground end, the third end of the second motor drive chip is connected to the second steering signal output end of the main control module, and the fourth end of the second motor drive chip is connected to The second encoder input terminal of the main control module outputs the second voltage +3V3 through the tenth resistor R10, and the fifth terminal of the second motor driver chip is connected to the first voltage VCC; the second terminal of the second motor driver chip is also connected to the same-direction input terminal of the second comparator, and the reverse input terminal of the second comparator is connected to the output terminal of the second comparator. The output terminal of the second comparator is also connected to the fourth monitoring terminal of the main control module through the fourth analog-to-digital converter, and the same-direction input terminal of the second comparator is also connected to the ground terminal through the sixth capacitor C6. The fourth terminal of the second motor driver chip is also connected to the ground terminal through the fifth capacitor C5. Wherein, the first terminal, second terminal, third terminal, fourth terminal, and fifth terminal of the second motor driver chip are attached. Figure 3 The inverting input terminal of the second comparator is marked as IN-, the positive input terminal is marked as IN+, and the output terminal is marked as OUT.

[0053] The suction cup extension and retraction circuit is responsible for converting the control signal of the main control module into driving power for the suction cup extension and retraction motor group to control the extension and retraction movement of the suction cup. The second motor driver chip is responsible for receiving the signal from the main control module and controlling the connected motor. The first end receives the second timing signal of the main control module for synchronizing the movement of the motor. The second end is grounded to provide a reference potential for the chip. The third end receives the second steering signal of the main control module for determining the direction of rotation of the motor. The fourth end receives the second encoder input signal of the main control module and outputs the second voltage +3V3 through the tenth resistor R10 for feedback of the position or speed information of the motor. The fifth end is connected to the first voltage VCC to provide power for the chip.

[0054] The second motor driver chip and second comparator control the suction cup's retraction motor, improving the accuracy of the retraction action. Zener diodes and capacitors stabilize the power supply and signal, preventing noise interference and improving system reliability. A fourth analog-to-digital converter allows the main control module to monitor the motor's status in real time, enabling closed-loop control and improving system response speed and stability.

[0055] As an example, see Figures 1 to 5, provides a robot suction cup control system, the robot suction cup control system includes:

[0056] A main control module, which is used to generate a suction cup signal, a telescopic drive signal, an ash dumping drive signal, and a lifting drive signal;

[0057] A suction cup activation module, the suction cup activation module is electrically connected to the main control module, and is used to receive the suction cup signal and activate the suction of the first suction cup and the second suction cup; the suction cup activation module includes at least one set of suction cup activation circuits and a vacuum pump, the suction cup activation circuit includes a second diode D2, a second transistor Q2, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8 and a second capacitor C2, the base of the second transistor Q2 is connected to the lifting drive signal through the fifth resistor R5, the collector of the second transistor Q2 is connected to the ground terminal through the eighth resistor R8, and the second transistor Q2 is connected to the ground terminal. The sixth resistor R6 is provided between the collector and base of the second transistor Q2, the emitter of the second transistor Q2 is connected to the first pin 1 of the vacuum pump, the second pin 2 of the vacuum pump is connected to the first voltage VCC, the anode of the second diode D2 is connected to the first pin of the vacuum pump, and the cathode of the second diode D2 is connected to the second pin of the vacuum pump; the collector of the second transistor Q2 is also connected to the second monitoring terminal of the main control module through the seventh resistor R7 and the second analog-to-digital converter, and the second capacitor C2 is provided between the junction of the second analog-to-digital converter and the seventh resistor R7 and the collector of the second transistor Q2;

[0058] A suction cup lifting drive module, which is electrically connected to the main control module, is used to receive the lifting drive signal when the suction force of the first suction cup disappears and enable the first lifting mechanism to drive the first suction cup close to or away from the photovoltaic panel; it is also used to receive the lifting drive signal when the suction force of the second suction cup disappears and enable the second lifting mechanism to drive the second suction cup close to or away from the photovoltaic panel; the suction cup lifting drive module includes a suction cup lifting circuit and a suction cup lifting motor group, and the suction cup lifting circuit is arranged between the main control module and the suction cup lifting motor group, and is used to receive the lifting drive signal and drive the motor in the suction cup lifting motor group. The suction cup lifting circuit includes a ninth resistor R9, an eleventh resistor R11, a thirteenth resistor R13, a first Zener diode ZD1, a third capacitor C3, a fourth capacitor C4, a first comparator and a first motor drive chip. The output end of the first motor drive chip is electrically connected to the motor in the suction cup lifting motor group and provides electrical energy. The first end of the first motor drive chip is connected to the first control signal output end of the main control module, the second end of the first motor drive chip is connected to the ground end through the thirteenth resistor R13, the third end of the first motor drive chip is connected to the first steering signal output end of the main control module, the fourth end of the first motor drive chip is connected to the first encoder input end of the main control module and is connected to the first encoder through the first The nine resistors R9 output a second voltage +3V3, and the fifth terminal of the first motor driver chip is connected to the first voltage VCC; at the same time, the sixth and seventh terminals of the first motor driver chip are connected to the motor in the suction cup lifting motor group as output terminals; the second terminal of the first motor driver chip is also connected to the non-inverting input terminal of the first comparator through the eleventh resistor R11, the inverting input terminal of the first comparator is connected to the output terminal of the first comparator, the non-inverting input terminal of the first comparator is also connected to the ground terminal through the fourth capacitor C4, and the fourth terminal of the first motor driver chip is also connected to the ground terminal through the third capacitor C3; the output terminal of the first comparator is also connected to the third monitoring terminal of the main control module through the third analog-to-digital converter;

[0059] A suction cup telescopic drive module, the suction cup telescopic drive module is electrically connected to the main control module, and is used to receive the telescopic drive signal and enable the first telescopic mechanism to drive the first suction cup close to or away from the robot body; it is also used to receive the telescopic drive signal and enable the second telescopic mechanism to drive the second suction cup close to or away from the robot body; the suction cup telescopic drive module includes a suction cup telescopic circuit and a suction cup telescopic motor group, and the suction cup telescopic circuit is arranged between the main control module and the suction cup telescopic motor group, and is used to receive the first telescopic drive signal and the second telescopic drive signal and drive the motor in the suction cup telescopic motor group. The suction cup extension circuit includes a tenth resistor R10, a twelfth resistor R12, a fourteenth resistor R14, a second Zener diode ZD2, a fifth capacitor C5, a sixth capacitor C6, a second comparator and a second motor drive chip. The output end of the second motor drive chip is electrically connected to the motor in the suction cup extension motor group and provides electrical energy. The first end of the second motor drive chip is connected to the second control signal output end of the main control module, the second end of the second motor drive chip is connected to the ground end through the fourteenth resistor R14, the third end of the second motor drive chip is connected to the second steering signal output end of the main control module, the fourth end of the second motor drive chip is connected to the second encoder input end of the main control module and outputs the second voltage +3V3 through the tenth resistor R10, and the fifth end of the second motor drive chip is connected to the first voltage VCC; at the same time, the sixth end 6 and the seventh end 7 of the second motor drive chip are connected to the motor in the suction cup extension motor group as output ends. The second end of the second motor drive chip is further connected to the non-inverting input end of the second comparator through the twelfth resistor R12, the inverting input end of the second comparator is connected to the output end of the second comparator, the non-inverting input end of the second comparator is further connected to the ground end through the sixth capacitor C6, and the fourth end of the second motor drive chip is further connected to the ground end through the fifth capacitor C5; the output end of the second comparator is further connected to the fourth monitoring end of the main control module through the fourth analog-to-digital converter;

[0060] An ash dumping motor drive module includes an ash dumping motor drive circuit and an ash dumping motor. The ash dumping motor drive circuit includes a first diode D1, a first transistor Q1, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, and a first capacitor C1. The base of the first transistor Q1 is connected to the ash dumping drive signal through the first resistor R1, and the collector of the first transistor Q1 is connected to the ground terminal through the fourth resistor R4. The second resistor R2 is provided between the collector and the base of the first transistor Q1. The emitter of the first transistor Q1 is connected to the first pin of the ash dumping motor, and the second pin of the ash dumping motor is connected to the first voltage VCC. The positive electrode of the first diode D1 is connected to the first pin of the ash dumping motor, and the negative electrode of the first diode D1 is connected to the second pin of the ash dumping motor. The collector of the first transistor Q1 is also connected to the first monitoring terminal of the main control module through the third resistor R3 and the second analog-to-digital converter. The first capacitor C1 is provided between the junction of the second analog-to-digital converter and the third resistor R3 and the collector of the first transistor Q1.

[0061] Example 2

[0062] An embodiment of the present application provides a cleaning robot, which is used for cleaning photovoltaic panels. The cleaning robot includes a robot body, a first suction cup and a second suction cup symmetrically arranged at both ends of the robot body, a body suction cup arranged on a side of the robot body close to the photovoltaic panel, and a first telescopic mechanism arranged between the first suction cup and the robot body, a second telescopic mechanism arranged between the second suction cup and the robot body, and a first lifting mechanism arranged on the first suction cup, and a second lifting mechanism arranged on the second suction cup; it also includes the robot suction cup control system described in any one of Example 1, which is consistent with the implementation method and technical effect of the robot suction cup control system in Example 1, and some of the contents are not repeated here.

[0063] In some embodiments, the robot suction cup control system also includes a dust dumping motor drive module, and the cleaning robot also includes a dust dumping device arranged on the robot body. The dust dumping motor of the dust dumping motor drive module is connected to the dust dumping device to drive it to dump the dust in the dust box of the dust dumping device.

[0064] The ash dump motor driver module primarily consists of the ash dump motor and motor drive circuit. The ash dump motor is the primary power source for the ash dump mechanism. Mechanically connected to the mechanism, the motor's rotational motion is converted into a dumping action by an appropriate mechanical structure (such as a gear, chain, rack, or linkage). The ash dump mechanism typically includes a dust collection box to collect dust and debris swept from the photovoltaic panels. The ash dump motor receives a control signal from the driver circuit. When the dust collection box needs to be dumped, the motor activates and drives the ash dump mechanism to dump the dust.

[0065] Therefore, through the dust dumping motor drive module, the dust in the dust box can be automatically dumped, the automation level of the cleaning robot can be improved, and manual intervention can be reduced.

[0066] In some embodiments, the suction cup activation module of the robot suction cup control system includes at least three groups of suction cup activation circuits and vacuum pumps, which respectively correspond to and independently control the suction force of the first suction cup, the second suction cup, and the main body suction cup.

[0067] The terms "first," "second," "third," "fourth," "fifth," "sixth," "seventh," "eighth," "ninth," and so forth (if any) in the specification and claims of this application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the application described herein can, for example, be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "corresponding to," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0068] This application is explained from the perspectives of purpose of use, effectiveness, progress and novelty, and has complied with the functional enhancement and use requirements emphasized by the Patent Law. The above description and drawings of this application are only preferred embodiments of this application and are not intended to limit this application. Therefore, all structures, devices, features, etc. that are similar or identical to those of this application, that is, all equivalent replacements or modifications made in accordance with the scope of the patent application of this application, should fall within the scope of protection of the patent application of this application.

Claims

1. A robot suction cup control system, applied to a cleaning robot, wherein the cleaning robot is used for working on an inclined angle surface, comprises a robot body, characterized in that: The cleaning robot further includes a first suction cup, a second suction cup, a first lifting mechanism, a second lifting mechanism, a first telescopic mechanism, a second telescopic mechanism and a main body suction cup; the robot suction cup control system includes: A main control module, which is used to generate a suction cup drive signal, a telescopic drive signal, and a lifting drive signal; a suction cup activation module, the suction cup activation module being electrically connected to the main control module and configured to receive the suction cup drive signal and activate the suction of the first suction cup, the second suction cup, and the main body suction cup; a suction cup lifting drive module, the suction cup lifting drive module being electrically connected to the main control module and configured to receive the lifting drive signal and enable the first lifting mechanism to drive the first suction cup toward or away from the photovoltaic panel; and further configured to receive the lifting drive signal and enable the second lifting mechanism to drive the second suction cup toward or away from the photovoltaic panel; The suction cup telescopic drive module is electrically connected to the main control module, and is used to receive the telescopic drive signal and enable the first telescopic mechanism to drive the first suction cup closer to or away from the robot body; it is also used to receive the telescopic drive signal and enable the second telescopic mechanism to drive the second suction cup closer to or away from the robot body.

2. The robot suction cup control system according to claim 1, characterized in that: The main control module is also used to generate an ash dumping drive signal; the robot suction cup control system also includes an ash dumping motor drive module, the ash dumping motor drive module includes an ash dumping motor drive circuit and an ash dumping motor, the ash dumping motor drive circuit includes a first diode, a first transistor, a third resistor and a first capacitor, the base of the first transistor is connected to the ash dumping drive signal, the collector of the first transistor is connected to the ground terminal, the emitter of the first transistor is connected to the first pin of the ash dumping motor, the second pin of the ash dumping motor is connected to the first voltage, the positive pole of the first diode is connected to the first pin of the ash dumping motor, and the negative pole of the first diode is connected to the second pin of the ash dumping motor; the collector of the first transistor is also connected to the first monitoring end of the main control module through the third resistor and the first analog-to-digital converter, and the first capacitor is arranged between the junction of the first analog-to-digital converter and the third resistor and the collector of the first transistor.

3. The robot suction cup control system according to claim 1, characterized in that: The suction cup activation module includes at least three sets of suction cup activation circuits and vacuum pumps corresponding to the first suction cup, the second suction cup and the main body suction cup respectively, and the suction cup activation circuit includes a second diode, a second transistor, a seventh resistor and a second capacitor; The base of the second transistor is connected to the suction cup drive signal, the collector of the second transistor is connected to the ground terminal, the emitter of the second transistor is connected to the first pin of the vacuum pump, the second pin of the vacuum pump is connected to the first voltage, the anode of the second diode is connected to the first pin of the vacuum pump, and the cathode of the second diode is connected to the second pin of the vacuum pump; the collector of the second transistor is also connected to the second monitoring terminal of the main control module through the seventh resistor and the second analog-to-digital converter, and the second capacitor is arranged between the junction of the second analog-to-digital converter and the seventh resistor and the collector of the second transistor.

4. The robot suction cup control system according to claim 1, characterized in that: The suction cup lifting drive module includes a suction cup lifting circuit and a suction cup lifting motor group. The suction cup lifting circuit is arranged between the main control module and the suction cup lifting motor group, and is used to receive the lifting drive signal and drive the motor in the suction cup lifting motor group.

5. The robot suction cup control system according to claim 4, characterized in that: The suction cup lifting circuit includes a ninth resistor, a first Zener diode, a third capacitor, a fourth capacitor, a first comparator and a first motor driver chip. The output end of the first motor driver chip is electrically connected to the motor in the suction cup lifting motor group and provides electrical energy. The first end of the first motor driver chip is connected to the first control signal output end of the main control module, the second end of the first motor driver chip is connected to the ground end, the third end of the first motor driver chip is connected to the first steering signal output end of the main control module, the fourth end of the first motor driver chip is connected to the first encoder input end of the main control module and outputs the second voltage through the ninth resistor, and the fifth end of the first motor driver chip is connected to the first voltage; the second end of the first motor driver chip is also connected to the same-direction input end of the first comparator, the inverse input end of the first comparator is connected to the output end of the first comparator, the same-direction input end of the first comparator is also connected to the ground end through the fourth capacitor, the output end of the first comparator is also connected to the third monitoring end of the main control module through the third analog-to-digital converter, and the fourth end of the first motor driver chip is also connected to the ground end through the third capacitor.

6. The robot suction cup control system according to claim 1, characterized in that: The suction cup telescopic drive module includes a suction cup telescopic circuit and a suction cup telescopic motor group. The suction cup telescopic circuit is arranged between the main control module and the suction cup telescopic motor group, and is used to receive the telescopic drive signal and drive the motor in the suction cup telescopic motor group.

7. The robot suction cup control system according to claim 6, characterized in that: The suction cup extension and retraction circuit includes a tenth resistor, a second Zener diode, a fifth capacitor, a sixth capacitor, a second comparator and a second motor drive chip. The output end of the second motor drive chip is electrically connected to the motor in the suction cup extension and retraction motor group and provides electrical energy. The first end of the second motor drive chip is connected to the second control signal output end of the main control module, the second end of the second motor drive chip is connected to the ground end, the third end of the second motor drive chip is connected to the second steering signal output end of the main control module, the fourth end of the second motor drive chip is connected to the second encoder input end of the main control module and outputs a second voltage through the tenth resistor, and the fifth end of the second motor drive chip is connected to the first voltage; the second end of the second motor drive chip is also connected to the same-direction input end of the second comparator, the inverse input end of the second comparator is connected to the output end of the second comparator, the output end of the second comparator is also connected to the fourth monitoring end of the main control module through a fourth analog-to-digital converter, the same-direction input end of the second comparator is also connected to the ground end through the sixth capacitor, and the fourth end of the second motor drive chip is also connected to the ground end through the fifth capacitor.

8. A cleaning robot, characterized in that: The cleaning robot is used for cleaning photovoltaic panels. The cleaning robot includes a robot body, a first suction cup and a second suction cup symmetrically arranged at both ends of the robot body, a body suction cup arranged on a side of the robot body close to the photovoltaic panel, and a first telescopic mechanism arranged between the first suction cup and the robot body, a second telescopic mechanism arranged between the second suction cup and the robot body, a first lifting mechanism arranged on the first suction cup, and a second lifting mechanism arranged on the second suction cup; and also includes a robot suction cup control system according to any one of claims 1 to 7.

9. The cleaning robot according to claim 8, characterized in that: The robot suction cup control system also includes a dust dumping motor drive module, and the cleaning robot also includes a dust dumping device arranged on the robot body. The dust dumping motor of the dust dumping motor drive module is connected to the dust dumping device to drive it to dump the dust in the dust box of the dust dumping device.

10. The cleaning robot according to claim 8, characterized in that: The suction cup activation module of the robot suction cup control system includes at least three groups of suction cup activation circuits and vacuum pumps, which respectively correspond to and independently control the suction force of the first suction cup, the second suction cup and the main body suction cup.

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