Control system and photovoltaic panel cleaning robot system

Abstract

The utility model provides a control system and a photovoltaic panel cleaning robot system. The control system comprises a warning lamp module, a sensing signal acquisition module and a voice warning module, wherein the warning lamp module and the sensing signal acquisition module are arranged in a cleaning robot, and the voice warning module is arranged in remote control equipment. For any one of the ultrasonic sensing devices, the sensing signal acquisition module comprises a corresponding switch sub-module and a serial port conversion sub-module. The warning lamp module is electrically connected with the first control module and is used for receiving warning control information generated by the first control module according to the serial port signal; and the second control module establishes short-range communication connection with the first control module through the second communication module and the first communication module, and is used for receiving warning control information generated by the first control module according to the serial port signal. According to the control system, distance sensing, real-time multi-form warning and effective information transmission are provided, the effect of distance detection is brought into full play, and smooth proceeding of cleaning operation and equipment safety are effectively guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of cleaning robots, and more particularly to a control system and a photovoltaic panel cleaning robot system. Background Technology

[0002] With the rapid development of photovoltaic power generation technology, the application of photovoltaic panels has become increasingly widespread, and their cleaning issues have become more prominent. Dust, dirt, and other contaminants on the surface of photovoltaic panels not only reduce the energy conversion efficiency of the panels, but may also lead to a decrease in the power output of the modules and a reduction in power generation, affecting the overall performance of the photovoltaic system.

[0003] Traditional methods of cleaning photovoltaic panels have many drawbacks. Manual cleaning is inefficient and costly, thus necessitating the use of photovoltaic panel cleaning robots. While existing photovoltaic panel cleaning robots can replace manual cleaning to some extent, they still have significant shortcomings. Specifically, most robots lack the integration of distance perception and real-time warning functions. Even when equipped with distance detection devices, they are not effectively linked to intuitive warning systems, resulting in untimely and unclear warning information delivery. Operators can only rely on experience to judge distance conditions, hindering quick reactions and preventing the full utilization of distance detection capabilities. This makes it difficult to effectively ensure the smooth progress of cleaning operations and equipment safety.

[0004] Therefore, there is an urgent need to design a control system and a photovoltaic panel cleaning robot system with accurate distance perception, real-time multi-form warnings, and effective information transmission to meet practical application needs and improve cleaning efficiency and safety. Utility Model Content

[0005] The purpose of this application is to provide a control system and a photovoltaic panel cleaning robot system to solve the above-mentioned technical problems.

[0006] The objective of this application is achieved through the following technical solution:

[0007] In a first aspect, this application provides a control system for a photovoltaic panel cleaning robot system, the control system comprising: a first control module and a first communication module disposed within the cleaning robot, and a second control module and a second communication module disposed within a remote control device;

[0008] The cleaning robot is equipped with multiple ultrasonic sensors, and the control system also includes an alarm light module, a sensor signal acquisition module, and a voice alarm module installed in the remote control device.

[0009] For any of the ultrasonic sensing devices, the sensing signal acquisition module includes a corresponding switch submodule and a serial port conversion submodule. The switch submodule is used to provide power to the ultrasonic sensing device separately, and the serial port conversion submodule is used to receive the sensing signal of the ultrasonic sensing device and convert it into a serial port signal to be sent to the first control module.

[0010] The warning light module is electrically connected to the first control module and is used to receive warning control information generated by the first control module based on the serial port signal, and to indicate the relative distance between the cleaning robot and the edge of the photovoltaic panel or obstacles through light changes.

[0011] The second control module establishes a short-range communication connection with the first control module through the second communication module and the first communication module, and is used to receive the warning control information generated by the first control module based on the serial port signal, so that the voice warning module can issue a voice prompt.

[0012] The beneficial effects of this technical solution are as follows: By equipping the cleaning robot with multiple ultrasonic sensors, a control system with accurate distance perception, real-time multi-form warnings, and effective information transmission is established. This fully leverages the role of distance detection, effectively ensuring the smooth progress of cleaning operations and equipment safety. It can measure the distance between the cleaning robot and the edge of the photovoltaic panel or obstacles from multiple directions and angles, enabling more comprehensive and accurate distance perception. Compared to a single sensor, this improves the accuracy and reliability of distance detection, reducing the risk of cleaning operation interruptions and collisions caused by inaccurate distance perception. The addition of a warning light module provides visual warnings through light changes, and a voice warning module provides auditory warnings through voice prompts. This combination of visual and auditory warnings effectively and promptly transmits distance information to operators, enabling them to react quickly and avoid missing opportunities due to untimely or unclear information transmission. Compared to traditional warning methods, this improves the warning effect and the effectiveness of information transmission. Distance perception and effective real-time multi-form warnings allow operators to more precisely control the cleaning robot's operation on the photovoltaic panel, reducing cleaning operation interruptions caused by collisions, jams, etc.

[0013] In some optional embodiments, the cleaning robot is provided with a first ultrasonic sensor, a second ultrasonic sensor, a third ultrasonic sensor, and a fourth ultrasonic sensor at the front left, rear left, front right, and rear right positions, respectively. For any one of the ultrasonic sensors, the sensor signal acquisition module includes a switch submodule and a serial port conversion submodule. The switch submodule is used to provide power to the ultrasonic sensor separately, and the serial port conversion submodule is used to receive the sensor signal from the ultrasonic sensor and convert it into a serial port signal, and send the converted serial port signal separately to the first control module.

[0014] The beneficial effect of this technical solution is that by setting ultrasonic sensors at four key locations—the front left, rear left, front right, and rear right—the cleaning robot can achieve distance detection over a wider range. Compared to setting sensors in only one or a few directions, this layout can more comprehensively and accurately obtain relative distance information between the cleaning robot and the edge of the photovoltaic panel, as well as surrounding obstacles, reducing collisions or other safety accidents caused by blind spots.

[0015] In some optional embodiments, the switching submodule includes a first field-effect transistor, the gate of which is connected to the power supply control terminal of the first control module, the source is grounded, and the drain is connected to the negative terminal of the corresponding ultrasonic sensing device to control the power supply on / off of the ultrasonic sensing device.

[0016] The signal input terminal of the serial port conversion submodule is connected to the signal output terminal of the ultrasonic sensing device, and the signal output terminal is connected to the serial port input terminal of the first control module. It is used to convert the ultrasonic sensing device into a serial port signal and send it to the first control module.

[0017] The beneficial effects of this technical solution are that the switching submodule composed of the first field-effect transistor enables precise control of the power supply to each ultrasonic sensing device. The serial port conversion submodule converts the signals from the ultrasonic sensing devices into serial port signals that the first control module can recognize, ensuring the compatibility and transmissibility of signals between different devices and improving the reliability and accuracy of signal transmission.

[0018] In some optional embodiments, the switching submodule further includes a first resistor and a second resistor; the gate of the first field-effect transistor is connected to the power supply control terminal of the first control module through the first resistor; one end of the second resistor is connected to the source and the other end is connected to the gate.

[0019] The beneficial effects of this technical solution are as follows: The first resistor is connected in series between the gate of the first field-effect transistor and the power supply control terminal of the first control module. When the first control module outputs a control signal to the gate, the first resistor can limit the magnitude of the gate current, preventing excessive gate current from damaging the field-effect transistor and thus protecting it. One end of the second resistor is connected to the source of the field-effect transistor, and the other end is connected to its gate, forming a feedback mechanism. When the source voltage changes, it affects the gate voltage through the second resistor, thereby adjusting the conduction level of the field-effect transistor and making its operating state more stable.

[0020] In some optional embodiments, the first resistor has a resistance of 910Ω, 1kΩ, or 1.2kΩ, and the second resistor has a resistance of 9.1kΩ, 10kΩ, or 11kΩ; the first resistor and the second resistor are surface mount resistors.

[0021] The beneficial effects of this technical solution are that the first resistor can effectively limit the gate current, and by selecting an appropriate resistance value, the magnitude of the gate current can be precisely controlled, ensuring that the field-effect transistor operates within a safe operating current range. By selecting an appropriate resistance value for the second resistor, the feedback effect of the second resistor can make the operating state of the field-effect transistor more stable.

[0022] In some optional embodiments, the warning light module includes at least one light strip composed of a first LED light, a second LED light, and a third LED light, and also includes a light control submodule electrically connected to the light strip;

[0023] The lighting control submodule includes a second field-effect transistor to a fourth field-effect transistor, where each field-effect transistor corresponds to an LED. The gate of the field-effect transistor is connected to the warning signal output terminal of the first control module, the source is grounded, the drain is connected to the negative terminal of the corresponding LED, and the positive terminal of the LED is connected to a +5V voltage.

[0024] The beneficial effects of this technical solution are as follows: by setting up a light strip composed of multiple LEDs, each LED corresponding to a different warning state, the relative distance between the cleaning robot and the edge of the photovoltaic panel or obstacles can be indicated intuitively by changes in light. Operators can easily understand the position and status of the cleaning robot by observing the on / off status of the LEDs, react in a timely manner, avoid collisions and other accidents, and improve the safety and reliability of cleaning operations. The field-effect transistor, as the control element, has good switching performance and stability, improving the stability and reliability of the entire warning light module.

[0025] In some optional embodiments, the voice alert module includes a voice chip and a power amplifier chip. The input terminal of the voice chip is connected to a second control module, and the first output terminal of the voice chip is connected to a speaker through the power amplifier chip, or the second output terminal of the voice chip is connected to a speaker.

[0026] The beneficial effects of this technical solution are that it provides two voice output connection methods, which can be flexibly selected according to the actual situation. When a larger voice prompt volume is required, the voice signal can be amplified by a power amplifier chip before driving the speaker, which can meet the needs of conveying voice prompts in noisy environments; while when the volume requirement is not high, the speaker can be directly connected to the output of the voice chip, which simplifies the circuit structure and reduces cost and power consumption.

[0027] In some alternative embodiments, the voice chip is WT588E02B and the power amplifier chip is 8002A.

[0028] The beneficial effect of this technical solution is that, by selecting a suitable chip, the voice prompt function can be optimized.

[0029] Secondly, this application provides a photovoltaic panel cleaning robot system, including a cleaning robot, a remote control device, and a control system as described in any of the first aspects. Attached Figure Description

[0030] The present application will be further described below with reference to the accompanying drawings and embodiments.

[0031] Figure 1 This is a schematic diagram of the structure of a control system provided in an embodiment of this application.

[0032] Figure 2 This is a circuit diagram of a switch submodule provided in an embodiment of this application.

[0033] Figure 3 This is a circuit diagram of a warning light module provided in an embodiment of this application.

[0034] Figure 4 and Figure 5 This is a circuit diagram of a voice chip and a power amplifier chip provided in an embodiment of this application.

[0035] Figure 6 This is a circuit diagram of a photovoltaic panel cleaning robot system provided in an embodiment of this application.

[0036] Diagram: Q1, first field-effect transistor; Q2, second field-effect transistor; Q3, third field-effect transistor; Q4, fourth field-effect transistor; U1, voice chip; U2, power amplifier chip; BL1, speaker; R1, first resistor; R2, second resistor. Detailed Implementation

[0037] The present application will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0038] Example 1.

[0039] See Figure 1 , Figure 1 This is a schematic diagram of the structure of a control system provided in an embodiment of this application.

[0040] This embodiment provides a control system, which includes: a first control module and a first communication module disposed within a cleaning robot, and a second control module and a second communication module disposed within a remote control device; wherein, the remote control device may include a plurality of remote control buttons, which are used to receive remote control operations and generate control information through the second control module;

[0041] The cleaning robot is equipped with multiple ultrasonic sensors, and the control system also includes an alarm light module, a sensor signal acquisition module, and a voice alarm module installed in the remote control device.

[0042] For any of the ultrasonic sensing devices, the sensing signal acquisition module includes a corresponding switch submodule and a serial port conversion submodule. The switch submodule is used to provide power to the ultrasonic sensing device separately, and the serial port conversion submodule is used to receive the sensing signal of the ultrasonic sensing device and convert it into a serial port signal to be sent to the first control module.

[0043] The warning light module is electrically connected to the first control module and is used to receive warning control information generated by the first control module based on the serial port signal, and to indicate the relative distance between the cleaning robot and the edge of the photovoltaic panel or obstacles through light changes.

[0044] The second control module establishes a short-range communication connection with the first control module through the second communication module and the first communication module. This connection is used to receive warning control information generated by the first control module based on serial port signals, prompting the voice warning module to issue a voice prompt. The short-range communication connection can be, for example, a Bluetooth connection.

[0045] In this embodiment, multiple ultrasonic sensors on the cleaning robot are used to emit ultrasonic signals and receive the echo signals reflected back when they encounter the edge of a photovoltaic panel or an obstacle. Based on parameters such as the time difference between ultrasonic emission and reception, the distance between the cleaning robot and the edge or obstacle is determined.

[0046] For each ultrasonic sensor, its corresponding switch submodule will be powered separately. For example, when the system starts up, each ultrasonic sensor will be powered on and tested to ensure that the ultrasonic sensor can operate normally and perform distance detection.

[0047] After the ultrasonic sensing device completes distance detection and generates a signal, the serial port conversion submodule receives the signal and converts it into a serial port signal that can be recognized and processed by the first control module, thereby realizing effective signal transmission and format conversion.

[0048] After receiving serial port signals from various ultrasonic sensors from the serial port signal acquisition module, the first control module can determine the relative distance between the cleaning robot and the edge of the photovoltaic panel or obstacles according to the set rules and algorithms. Then, based on the judgment result, it generates corresponding warning control information and transmits the warning control information to the warning light module through an electrical connection. The warning light module, based on the received control information, intuitively indicates the relative distance between the cleaning robot and the edge of the photovoltaic panel or obstacles by changing the light. For example, different colored lights can represent different distance ranges or fault conditions, allowing operators to understand the distance status in a timely manner.

[0049] Meanwhile, after the first control module generates the warning control information, it will also send the warning control information to the second control module through the short-range communication connection established between the first communication module and the second communication module in the remote control device. After receiving the information, the second control module will cause the voice warning module to issue a voice prompt, informing the operator of the current distance status of the cleaning robot in the form of sound. This allows the operator to keep track of the situation on site even when they are at a remote control position a certain distance away from the robot, and make corresponding operational decisions.

[0050] Therefore, the technical solution provided in this application, by equipping the cleaning robot with multiple ultrasonic sensors, establishes a control system with accurate distance perception, real-time multi-form warnings, and effective information transmission. This fully leverages the role of distance detection, effectively ensuring the smooth progress of cleaning operations and equipment safety. It can measure the distance between the cleaning robot and the edge of the photovoltaic panel or obstacles from multiple directions and angles, enabling more comprehensive and accurate distance perception. Compared to a single sensor setup, this improves the accuracy and reliability of distance detection, reducing the risk of cleaning operation interruptions and collisions caused by inaccurate distance perception. The inclusion of a warning light module provides visual warnings through light changes, while a voice warning module provides auditory warnings through voice prompts. This combination of visual and auditory warnings effectively and promptly transmits distance information to operators, enabling them to react quickly and avoid missing opportunities due to untimely or unclear information transmission. Compared to traditional warning methods, this enhances the warning effect and the effectiveness of information transmission. Distance perception and effective real-time multi-form warnings allow operators to more precisely control the cleaning robot's operation on the photovoltaic panel, reducing cleaning operation interruptions caused by collisions, jams, or other issues.

[0051] In one embodiment, the cleaning robot is equipped with a first ultrasonic sensor, a second ultrasonic sensor, a third ultrasonic sensor, and a fourth ultrasonic sensor at its front left, rear left, front right, and rear right positions, respectively. For any one of the ultrasonic sensors, the sensor signal acquisition module includes a switch submodule and a serial port conversion submodule. The switch submodule is used to provide power to the ultrasonic sensor individually, and the serial port conversion submodule is used to receive the sensor signal from the ultrasonic sensor and convert it into a serial port signal, and then send the converted serial port signal to the first control module separately.

[0052] For example, the first ultrasonic sensing device corresponds to the first switch submodule and the first serial port conversion submodule, while the fourth ultrasonic sensing device corresponds to the fourth switch submodule and the fourth serial port conversion submodule.

[0053] When the cleaning robot is cleaning the surface of the photovoltaic panel, the ultrasonic sensing device emits ultrasonic signals to the surroundings. When the ultrasonic signals encounter the edge of the photovoltaic panel, obstacles or other objects during propagation, they are reflected back. Based on the time difference between the emission and reception of the ultrasonic waves and the speed of ultrasonic wave propagation in the air, the distance between the corresponding part of the cleaning robot and the surrounding objects is calculated, thereby realizing the detection of the distance information of the cleaning robot's surrounding environment.

[0054] For each ultrasonic sensor, the corresponding signal acquisition module's switch submodule provides its own power. Once the ultrasonic sensor completes distance detection and generates a signal, the serial port conversion submodule receives this signal and converts it into a serial port signal. The conversion primarily transforms the analog signal output by the ultrasonic sensor into a serial port signal that is easily recognized and processed by the first control module. The converted serial port signal is then sent individually to the first control module, allowing it to receive and process signals from ultrasonic sensors at different locations separately, accurately determining the distance between the cleaning robot and surrounding objects in various directions.

[0055] Therefore, by installing ultrasonic sensors at four key locations—the front left, rear left, front right, and rear right—the cleaning robot can achieve distance detection over a wider range. Compared to installing sensors in only one or a few directions, this layout can more comprehensively and accurately obtain relative distance information between the cleaning robot and the edge of the photovoltaic panel, as well as various surrounding obstacles, reducing collisions or other safety accidents caused by blind spots.

[0056] Each ultrasonic sensor is equipped with a corresponding switch submodule for independent power supply, ensuring the stability and independence of power supply for each sensor. This avoids potential interference and insufficient power supply issues that can occur when multiple devices share a power supply, ensuring the normal and stable operation of each ultrasonic sensor and improving the accuracy and stability of distance detection. Simultaneously, the serial port conversion submodule converts the signals from the ultrasonic sensors into serial signals and sends them separately to the first control module. This allows the first control module to separately identify, process, and analyze signals from different sources, effectively improving the orderliness and accuracy of signal transmission.

[0057] See Figure 2 , Figure 2 This is a circuit diagram of a switch submodule provided in an embodiment of this application.

[0058] In one embodiment, the switching submodule includes a first field-effect transistor Q1, the gate of the first field-effect transistor Q1 is connected to the power supply control terminal of the first control module, the source is grounded, and the drain is connected to the negative terminal of the corresponding ultrasonic sensing device to control the power supply on / off of the ultrasonic sensing device.

[0059] The signal input terminal of the serial port conversion submodule is connected to the signal output terminal of the ultrasonic sensing device, and the signal output terminal is connected to the serial port input terminal of the first control module. It is used to convert the ultrasonic sensing device into a serial port signal and send it to the first control module.

[0060] When the first control module needs to power an ultrasonic sensor for distance detection, it sends a control signal to the gate of the corresponding field-effect transistor (FET), turning it on. Current flows through the ultrasonic sensor, then through the conducting FET to the ground, forming a closed loop and providing the operating voltage to the ultrasonic sensor. When no power is needed, the first control module stops sending control signals, the FET turns off, and the power supply to the ultrasonic sensor is cut off, achieving precise on / off control of its power supply.

[0061] After completing distance detection, the ultrasonic sensor generates a corresponding signal, which is output from its signal output terminal and connected to the signal input terminal of the serial port conversion submodule. The serial port conversion submodule contains signal processing circuitry and a conversion chip, capable of converting the analog signal output by the ultrasonic sensor into a serial port signal that meets the recognition requirements of the first control module. The converted serial port signal is output from the signal output terminal of the serial port conversion submodule and connected to the serial port input terminal of the first control module, completing signal transmission and enabling the first control module to receive and process signals from various ultrasonic sensors.

[0062] Therefore, the switching submodule formed by the first field-effect transistor Q1 enables precise control of the power supply to each ultrasonic sensor. The serial port conversion submodule converts the signals from the ultrasonic sensors into serial port signals that the first control module can recognize, ensuring the compatibility and transmissibility of signals between different devices and improving the reliability and accuracy of signal transmission.

[0063] In one embodiment, the switching submodule further includes a first resistor R1 and a second resistor R2; the gate of the first field-effect transistor Q1 is connected to the power supply control terminal of the first control module through the first resistor R1; one end of the second resistor R2 is connected to the source and the other end is connected to the gate.

[0064] The first resistor R1 is connected in series between the gate of the first field-effect transistor Q1 and the power supply control terminal of the first control module. When the first control module outputs a control signal to the gate, the first resistor R1 limits the gate current, preventing excessive gate current from damaging the field-effect transistor and thus protecting it. One end of the second resistor R2 is connected to the source of the field-effect transistor, and the other end is connected to its gate, forming a feedback mechanism. When the source voltage changes, it affects the gate voltage through the second resistor R2, thereby automatically adjusting the conduction level of the field-effect transistor and making its operation more stable.

[0065] In one embodiment, the first resistor R1 has a resistance of 910Ω, 1kΩ, or 1.2kΩ, and the second resistor R2 has a resistance of 9.1kΩ, 10kΩ, or 11kΩ; the first resistor R1 and the second resistor R2 are surface mount resistors.

[0066] The first resistor R1 effectively limits the gate current. By selecting an appropriate resistance value, the magnitude of the gate current can be precisely controlled, ensuring that the field-effect transistor operates within a safe current range. By selecting an appropriate value for the second resistor R2, the feedback effect of the second resistor R2 can make the operating state of the field-effect transistor more stable.

[0067] See Figure 3 , Figure 3 This is a circuit diagram of a warning light module provided in an embodiment of this application.

[0068] In one embodiment, the warning light module includes at least one set of light strips composed of a first LED light, a second LED light, and a third LED light, and also includes a light control submodule electrically connected to the light strips; the light strips are disposed at the front or rear of the cleaning robot, and as an example, two sets of light strips are disposed on both sides of the cleaning robot respectively;

[0069] The lighting control submodule includes a second field-effect transistor Q2, a third field-effect transistor Q3, and a fourth field-effect transistor Q4. Each field-effect transistor corresponds to an LED. The gate of a field-effect transistor is connected to the warning signal output terminal of the first control module, the source is grounded, the drain is connected to the negative terminal of the corresponding LED, and the positive terminal of the LED is connected to a +5V voltage.

[0070] The warning light module includes at least one light strip composed of a first LED, a second LED, and a third LED. The LEDs can be different colors, such as green, blue, and red. Each LED corresponds to a different warning state, used to indicate the relative distance between the cleaning robot and the edge of the photovoltaic panel or an obstacle. Each LED's positive terminal is connected to a +5V voltage to provide its operating voltage. The lighting control submodule consists of second field-effect transistors Q2 to fourth field-effect transistors Q4. When the first control module determines that a warning needs to be issued based on the distance information detected by the ultrasonic sensor, it sends a control signal to the gate of the corresponding field-effect transistor. After the field-effect transistor is turned on, current flows from the +5V voltage through the LED, then through the turned-on field-effect transistor to the ground terminal, forming a closed loop, illuminating the corresponding LED, thereby providing a light indication of the relative distance between the cleaning robot and the edge of the photovoltaic panel or an obstacle.

[0071] The first, second, and third LEDs forming the same LED strip are each one of a different type of LED: green, blue, or red. For example, if the first LED is red, then the second and third LEDs are either blue or green LEDs.

[0072] Therefore, by setting up a light strip composed of multiple LEDs, each LED corresponding to a different warning state, the relative distance between the cleaning robot and the edge of the photovoltaic panel or obstacles can be indicated intuitively by changes in light. Operators can easily understand the position and status of the cleaning robot by observing the on / off status of the LEDs, react in a timely manner, avoid collisions and other accidents, and improve the safety and reliability of cleaning operations. Field-effect transistors (FETs) are used as control elements, possessing good switching performance and stability, thus improving the stability and reliability of the entire warning light module. In specific applications, the light strip is equipped with a +24V power supply, and a step-down module provides +5V power to each LED.

[0073] See Figure 4 and Figure 5 , Figure 4 and Figure 5 This is a circuit diagram of a voice chip and power amplifier chip U2 provided in an embodiment of this application.

[0074] In one embodiment, the voice alert module includes a voice chip U1 and a power amplifier chip U2. The input terminal of the voice chip U1 is connected to a second control module, and the first output terminal (PWMP) of the voice chip U1 is connected to the speaker BL1 through the power amplifier chip U2, or the second output terminal (PWMN) of the voice chip U1 is connected to the speaker BL1.

[0075] This can be understood as follows: the input terminal of the voice chip U1 in the voice warning module is connected to the second control module. After receiving the warning control information sent by the first control module, the second control module processes it and sends corresponding control commands to the voice chip U1, controlling it to output corresponding voice prompts (e.g., a voice prompt indicating that an obstacle is close on the left). Upon receiving the command from the second control module, the voice chip U1 generates a corresponding voice signal at its output terminal. In one connection method, the first output terminal of the voice chip U1 is connected to the speaker BL1 via the power amplifier chip U2. The function of the power amplifier chip U2 is to amplify the voice signal output by the voice chip U1, enabling the amplified voice signal to drive the speaker BL1 to emit a sufficiently loud voice prompt. In another connection method, the second output terminal of the voice chip U1 is directly connected to the speaker BL1, directly driving the speaker BL1.

[0076] Therefore, two voice output connection methods are provided, which can be flexibly selected according to the actual situation. When a larger voice prompt volume is required, the voice signal can be amplified by the power amplifier chip U2 before driving the speaker BL1, which can meet the needs of conveying voice prompts in noisy environments; when the volume requirement is not high, the output terminal of the voice chip U1 can be directly connected to the speaker BL1, which simplifies the circuit structure and reduces cost and power consumption.

[0077] In one embodiment, the voice chip U1 is a WT588E02B, and the power amplifier chip U2 is an 8002A. By selecting appropriate chips, the voice prompt function can be optimized.

[0078] Example 2.

[0079] See Figure 6 , Figure 6 This is a circuit diagram of a photovoltaic panel cleaning robot system provided in an embodiment of this application. This embodiment provides a photovoltaic panel cleaning robot system, including a cleaning robot, a remote control device, and a control system as described in any one of Embodiments 1. The specific embodiments and achieved technical effects are consistent with those described in Embodiment 1 above, and some details will not be repeated here.

[0080] The terms “first,” “second,” “third,” “fourth,” “fifth,” “sixth,” “seventh,” “eighth,” “ninth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “corresponding to,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises 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.

[0081] This application describes the invention from the perspectives of purpose, performance, progress, and novelty, and it meets the functional enhancement and use requirements emphasized by the Patent Law. The above description and drawings are merely preferred embodiments of this application and are not intended to limit this application. Therefore, all structures, devices, features, etc., that are similar to or identical to those of this application, i.e., all equivalent substitutions or modifications made in accordance with the scope of this patent application, shall fall within the scope of protection of this patent application.

Claims

1. A control system for a photovoltaic panel cleaning robot system, the control system comprising: The first control module and the first communication module are installed in the cleaning robot, and the second control module and the second communication module are installed in the remote control device; The cleaning robot is characterized by having multiple ultrasonic sensors, and the control system further includes a warning light module, a sensor signal acquisition module, and a voice warning module installed in the remote control device. For any of the ultrasonic sensing devices, the sensing signal acquisition module includes a corresponding switch submodule and a serial port conversion submodule. The switch submodule is used to provide power to the ultrasonic sensing device separately, and the serial port conversion submodule is used to receive the sensing signal of the ultrasonic sensing device and convert it into a serial port signal to be sent to the first control module. The warning light module is electrically connected to the first control module and is used to receive warning control information generated by the first control module based on the serial port signal, and to indicate the relative distance between the cleaning robot and the edge of the photovoltaic panel or obstacles through light changes. The second control module establishes a short-range communication connection with the first control module through the second communication module and the first communication module, and is used to receive the warning control information generated by the first control module based on the serial port signal, so that the voice warning module can issue a voice prompt.

2. The control system according to claim 1, characterized in that, The cleaning robot is equipped with a first ultrasonic sensor, a second ultrasonic sensor, a third ultrasonic sensor, and a fourth ultrasonic sensor at the front left, rear left, front right, and rear right positions, respectively. For any one of the ultrasonic sensors, the sensor signal acquisition module includes a switch submodule and a serial port conversion submodule. The switch submodule is used to provide power to the ultrasonic sensor individually, and the serial port conversion submodule is used to receive the sensor signal from the ultrasonic sensor and convert it into a serial port signal, and then send the converted serial port signal to the first control module separately.

3. The control system according to claim 2, characterized in that, The switching submodule includes a first field-effect transistor, the gate of which is connected to the power supply control terminal of the first control module, the source is grounded, and the drain is connected to the negative terminal of the corresponding ultrasonic sensing device. The signal input terminal of the serial port conversion submodule is connected to the signal output terminal of the ultrasonic sensing device, and the signal output terminal is connected to the serial port input terminal of the first control module. It is used to convert the ultrasonic sensing device into a serial port signal and send it to the first control module.

4. The control system according to claim 3, characterized in that, The switching submodule further includes a first resistor and a second resistor; the gate of the first field-effect transistor is connected to the power supply control terminal of the first control module through the first resistor; one end of the second resistor is connected to the source and the other end is connected to the gate.

5. The control system according to claim 4, characterized in that, The first resistor has a resistance of 910Ω, 1kΩ, or 1.2kΩ, and the second resistor has a resistance of 9.1kΩ, 10kΩ, or 11kΩ; both the first and second resistors are surface mount resistors.

6. The control system according to claim 1, characterized in that, The warning light module includes at least one light strip composed of a first LED light, a second LED light and a third LED light, and also includes a light control submodule electrically connected to the light strip; The lighting control submodule includes a second field-effect transistor to a fourth field-effect transistor, where each field-effect transistor corresponds to an LED. The gate of a field-effect transistor is connected to the warning signal output terminal of the first control module, the source is grounded, the drain is connected to the negative terminal of the corresponding LED, and the positive terminal of the LED is connected to a +5V voltage.

7. The control system according to claim 6, characterized in that, The first, second, and third LEDs that make up the same light strip are each one of green, blue, and red LEDs, and they are all different.

8. The control system according to claim 1, characterized in that, The voice alert module includes a voice chip and a power amplifier chip. The input terminal of the voice chip is connected to the second control module, and the first output terminal of the voice chip is connected to a speaker through the power amplifier chip, or the second output terminal of the voice chip is connected to a speaker.

9. The control system according to claim 8, characterized in that, The voice chip is WT588E02B, and the power amplifier chip is 8002A.

10. A photovoltaic panel cleaning robot system, characterized in that, This includes cleaning robots, remote control devices, and the control system described in any one of claims 1-8.

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