Support leg leveling structure, photovoltaic mounting robot and robot leveling method

Abstract

Disclosed in the present application are a support leg leveling structure, a photovoltaic mounting robot and a robot leveling method. The support leg leveling structure comprises a plurality of support leg assemblies and a control assembly, wherein the plurality of support leg assemblies are symmetrically arranged on two sides of a robot body of a photovoltaic mounting robot in a first direction, and each support leg assembly comprises a servo driver and a support leg in driving connection with the servo driver, the servo driver driving the support leg to extend or retract in a second direction; and the control assembly comprises a controller, the servo driver of each support leg assembly is electrically connected to the controller, and the controller is configured to control the servo driver to drive the support leg to extend or retract in the second direction and to receive a current change signal of each servo driver, the first direction being perpendicular to the second direction. The support leg leveling structure of the present application makes the photovoltaic mounting robot safer and more reliable.

Description

A support leg leveling structure, a photovoltaic installation robot and a robot leveling method

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to Chinese Patent Application No. 202410682677.1, filed on May 29, 2024, entitled "A support installation robot leveling method, device and system", Chinese Patent Application No. 202410681937.3, filed on May 29, 2024, entitled "Support leg leveling structure, photovoltaic installation robot and support leg leveling method", the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of photovoltaic installation, in particular to a support leg leveling structure, a photovoltaic installation robot and a robot leveling method. BACKGROUND

[0004] When installing a land photovoltaic support, a photovoltaic installation robot is usually used to install the photovoltaic support. Due to environmental factors of outdoor installation, the photovoltaic installation robot needs to be leveled to keep the vehicle body in a relatively horizontal state to prevent the photovoltaic installation robot from tipping over. However, the conventional photovoltaic installation robot is usually manually controlled to level, and the leveling process does not have a high degree of automation.

[0005] SUMMARY

[0006] Therefore, the purpose of the present application is to overcome the deficiencies in the prior art and provide a support leg leveling structure, a photovoltaic installation robot and a robot leveling method.

[0007] In a first aspect, the present application provides a support leg leveling structure, comprising:

[0008] a plurality of support leg assemblies, the plurality of support leg assemblies are symmetrically arranged on both sides of a robot main body of a photovoltaic installation robot along a first direction, each support leg assembly comprises a servo driver and a support leg drivingly connected with the servo driver, and the servo driver drives the support leg to extend or contract along a second direction;

[0009] a control assembly, the control assembly comprises a controller, the servo driver of each support leg assembly is electrically connected with the controller, the controller is used for controlling the servo driver to drive the support leg to extend or contract along the second direction, and is used for receiving a current change signal of each servo driver;

[0010] wherein the first direction and the second direction are perpendicular to each other.

[0011] Furthermore, the leg assembly includes a first leg assembly, a second leg assembly, a third leg assembly, and a fourth leg assembly. The first leg assembly and the second leg assembly are both disposed at one end of the robot body along a third direction, and the first leg assembly and the second leg assembly are symmetrically disposed on both sides of the robot body along the first direction. The third leg assembly and the fourth leg assembly are both disposed at the other end of the robot body along the third direction, and the third leg assembly and the fourth leg assembly are symmetrically disposed on both sides of the robot body along the first direction.

[0012] Wherein, the first direction, the second direction, and the third direction are all perpendicular to each other.

[0013] Furthermore, the first leg assembly includes a first servo driver and a first leg driven and connected to the first servo driver; the second leg assembly includes a second servo driver and a second leg driven and connected to the second servo driver; the third leg assembly includes a third servo driver and a third leg driven and connected to the third servo driver; and the fourth leg assembly includes a fourth servo driver and a fourth leg driven and connected to the fourth servo driver.

[0014] The first servo driver, the second servo driver, the third servo driver, and the fourth servo driver are all electrically connected to the controller.

[0015] Furthermore, the outrigger leveling structure also includes an alarm component, which is electrically connected to the controller. When the outrigger extends to its limit position along the second direction and still fails to provide support to the ground, the controller controls the alarm component to issue an alarm signal.

[0016] Furthermore, the control component also includes an attitude position sensor electrically connected to the controller. When each of the outriggers is supported on the ground, each outrigger has a highest point located at the end of the outrigger away from the ground along the second direction. The attitude position sensor is used to detect the position signal of each highest point and transmit each position signal to the controller.

[0017] Secondly, this application provides a photovoltaic installation robot, comprising:

[0018] Robot body;

[0019] As mentioned above, the outrigger leveling structure.

[0020] Thirdly, this application provides a robot leveling method applied to the aforementioned outrigger leveling structure, the method comprising:

[0021] controlling each leg to elongate in a second direction;

[0022] obtaining a current change signal of each servo driver, and determining whether the current change signal of each servo driver is greater than a first preset value;

[0023] if the current change signal of the servo driver is greater than the first preset value, controlling the leg driven connected with the servo driver to stop moving;

[0024] determining a posture of a robot body;

[0025] when the robot body is in an inclined state, controlling one or more legs to elongate in the second direction, so that the robot body adjusts to a horizontal state;

[0026] when the robot body is in a horizontal state, obtaining a current change signal of each servo driver, and determining whether the current change signal of each servo driver is less than a second preset value;

[0027] if the current change signal of the servo driver is less than the second preset value, controlling the leg driven connected with the servo driver to elongate in the second direction.

[0028] Further, if it is determined that the leg has elongated to a limit position, an alarm is given.

[0029] In a fourth aspect, the application provides a robot leveling method applied to the leg leveling structure as described above, comprising:

[0030] after entering the leveling mode, regulating a driving torque of all legs for supporting the robot body, and obtaining a first torque value of each leg after regulation;

[0031] if the first torque value is greater than or equal to a preset torque value and it is determined that a push rod of each leg does not reach a limit position, obtaining a current pose of the robot body to determine whether the robot body is currently inclined;

[0032] if it is determined that the robot body is currently inclined, calculating a leg movement amount of a target leg for making the robot body in a balanced state according to the current pose;

[0033] regulating movement of the target leg according to the leg movement amount until it is determined that the robot body is in the balanced state.

[0034] Further, in the process of regulating movement of the target leg according to the leg movement amount, further comprising:

[0035] The PID control module is used to optimize the control speed of the target leg movement, and the method comprises the following steps:

[0036] Based on the current pose, the current adjustment angle of the target leg when the robot body is in a balanced state is calculated.

[0037] After inputting the current adjustment angle into the PID control module, the optimized control speed is output.

[0038] Further, the calculation of the leg movement amount of the target leg when the robot body is in a balanced state comprises:

[0039] Based on the current pose, a tilt dynamic equation is constructed.

[0040] According to the tilt dynamic equation, the Euler angle is calculated.

[0041] The Euler angle is compared with a preset reference Euler angle to determine the tilt direction.

[0042] The target leg to be adjusted in the tilt direction is determined, and the leg movement amount of the target leg is calculated.

[0043] Further, before the tilt dynamic equation is constructed based on the current pose, the method further comprises:

[0044] The multiple current poses collected at the same time are subjected to mean filtering processing to obtain pose data for constructing the tilt dynamic equation.

[0045] Further, the determination process of the push rod of each leg reaching the limit position comprises:

[0046] The working state of the limit switch corresponding to the push rod of each leg is monitored.

[0047] If the working state of any limit switch is in an open state, it is determined that the push rod of the corresponding leg currently reaches the limit position.

[0048] Further, the method further comprises:

[0049] If the first torque value is less than the preset torque value, or the push rod of any leg reaches the limit position, an alarm signal is sent.

[0050] Further, after it is determined that the robot body is in a balanced state, the method further comprises:

[0051] The second torque value of each leg at the current time is obtained, and it is determined whether the second torque value is less than the preset torque value.

[0052] If it is determined that the second moment value is less than the preset moment value, it is determined that it is necessary to enter the leveling mode again, a demand number of times of entering the leveling mode is recorded, and if the demand number of times is greater than a preset number of times, an alarm signal is sent out;

[0053] If it is determined that the second moment value is greater than or equal to the preset moment value, the leveling mode is exited.

[0054] Further, the method further comprises:

[0055] Monitoring a real-time pose of the robot body;

[0056] When it is determined that the robot body is currently inclined, entering the leveling mode of the robot body again.

[0057] In a fifth aspect, the present application provides a photovoltaic installation robot, comprising a processor, a memory and a leg leveling structure as described above, the memory stores a computer program, and the processor is configured to execute the computer program to implement the steps of the robot leveling method as described above.

[0058] The embodiments of the present application have the following beneficial effects:

[0059] The leg leveling structure provided by the embodiments of the present application can support the robot body through a plurality of leg assemblies symmetrically arranged on both sides of the robot body along a first direction, so as to improve the safety of the photovoltaic installation robot during photovoltaic installation. During the process of supporting the robot body through the leg assemblies, the controller can control the servo driver to drive each leg to elongate along a second direction. During the process of elongating the leg along the second direction, when the controller receives a current change signal of the servo driver, it indicates that the leg has contacted the ground. At this time, the controller can control the servo driver to slow down and stop. After each leg contacts the ground, the robot body can be leveled. After leveling is completed, if it is determined that the robot body is in an inclined state or that the support relationship between the leg and the ground changes, i.e., a virtual support is generated. At this time, the controller can control the servo driver in the leg assembly that generates the virtual support to start driving, so that the servo driver can drive the leg to elongate along the second direction, so that the leg can support the ground. In this way, the actual support between the leg and the ground can be detected at any time, so as to improve the support effect of the leg assembly on the robot body and further improve the safety and reliability of the photovoltaic installation robot.

[0060] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those of ordinary skill in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0062] Fig. 1 shows a perspective structural schematic diagram of a photovoltaic installation robot in the present application;

[0063] Fig. 2 shows an exploded structural schematic diagram of a connecting assembly, a first leg assembly and a second leg assembly in the present application;

[0064] Fig. 3 shows a perspective structural schematic diagram of a first connecting piece in the present application;

[0065] Fig. 4 shows a perspective structural schematic diagram of a second connecting piece in the present application;

[0066] Fig. 5 shows a perspective structural schematic diagram of a third connecting piece in the present application;

[0067] Fig. 6 shows an exploded structural schematic diagram of a connecting assembly, a third leg assembly, a fourth leg assembly and a robot main body in the present application;

[0068] Fig. 7 shows an enlarged structural schematic diagram at A in Fig. 6;

[0069] Fig. 8 shows an enlarged structural schematic diagram at B in Fig. 6;

[0070] Fig. 9 shows a structural schematic diagram of a photovoltaic installation robot in the present application;

[0071] Fig. 10 shows an interaction schematic diagram between a processor and each robot main body in the present application;

[0072] Fig. 11 shows a first flow schematic diagram of a robot leveling method in the present application;

[0073] Fig. 12 shows a second flow schematic diagram of a robot leveling method in the present application;

[0074] Fig. 13 shows a third flow schematic diagram of a robot leveling method in the present application;

[0075] Fig. 14 shows a first structural schematic diagram of a robot leveling device in the present application;

[0076] Fig. 15 shows a second structural schematic diagram of a robot leveling device in the present application.

[0077] Key component symbols: 10 - Leg leveling structure; 100 - First leg assembly; 110 - First servo driver; 120 - First leg; 200 - Second leg assembly; 210 - Second servo driver; 220 - Second leg; 300 - Third leg assembly; 310 - Third servo driver; 320 - Third leg; 400 - Fourth leg assembly; 410 - Fourth servo driver; 420 - Fourth leg; 500 - Control assembly; 510 - Controller; 520 - Attitude and position sensor; 600 - Alarm assembly; 700 - Connection assembly; 710 - First connector; 711 - Connection through hole; 712 - ... 713-Second fixed through hole; 714-Fourth fixed through hole; 715-Fifth fixed through hole; 720-Second connector; 721-Third fixed through hole; 730-Third connector; 731-Sixth fixed through hole; 740-First fixing member; 750-Second fixing member; 760-Fourth connector; 761-Eighth fixed through hole; 770-Fifth connector; 771-Tenth fixed through hole; 780-Third fixing member; 790-Fourth fixing member; 20-Robot body; 21-Seventh fixed through hole; 22-Ninth fixed through hole; 30-Processor. Detailed Implementation

[0078] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0079] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0080] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0081] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0082] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0083] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0084] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0085] Referring to Figures 1 and 9, the leg leveling structure 10 involved in this application embodiment is applied to a photovoltaic installation robot. The photovoltaic installation robot includes a robot body 20, and the leg leveling structure 10 includes: multiple leg components and a control component 500.

[0086] Furthermore, multiple leg assemblies are symmetrically arranged on both sides of the robot body 20 along a first direction. Each leg assembly includes a servo driver and a leg connected to the servo driver. The servo driver drives the leg to extend or retract along a second direction. The control assembly 500 includes a controller 510. The servo driver of each leg assembly is electrically connected to the controller 510. The controller 510 is used to control the servo driver to drive the leg to extend or retract along the second direction and to receive the current change signal of each servo driver. The first direction and the second direction are perpendicular to each other.

[0087] It should be noted that the first direction is the direction indicated by x in Figure 1, and the second direction is the direction indicated by y in Figure 1.

[0088] It should be noted that when the outrigger assembly switches from a state of not being supported by the ground to a state of being supported by the ground, the servo drive will experience rotational resistance due to the ground resistance on the outrigger assembly. This will cause the current of the servo drive to increase momentarily. Similarly, when the outrigger assembly switches from a state of being supported by the ground to a state of not being supported by the ground, the resistance received by the servo drive will decrease, which will also cause the current of the servo drive to decrease momentarily.

[0089] In the aforementioned outrigger leveling structure 10, multiple outrigger assemblies symmetrically arranged on both sides of the robot body 20 along a first direction can support the robot body 20, thereby improving the safety of the photovoltaic installation robot during photovoltaic installation. During the support of the robot body 20 by the outrigger assemblies, the controller 510 can control the servo drive to extend each outrigger along a second direction. When the controller 510 receives a current change signal from the servo drive during the extension of the outrigger along the second direction, it indicates that the outrigger has made contact with the ground. At this point, the controller 510 can control the servo drive to slowly stop. When each outrigger is in contact with the ground... After surface contact, the robot body 20 can be leveled. However, if the robot body is still tilted or the support relationship between the legs and the ground changes after leveling, resulting in virtual support, the controller 510 can control the servo driver in the leg assembly that has generated virtual support to start driving. This allows the servo driver to drive the leg to extend in the second direction, enabling the leg to support the ground. In this way, it is possible to detect at any time whether the leg has generated actual support with the ground, thereby improving the support effect of the leg assembly on the robot body 20 and further improving the safety and reliability of the photovoltaic installation robot.

[0090] It is understood that in the above embodiments, when the photovoltaic installation robot needs to move to the next installation point, the controller 510 can control the servo driver to drive the legs to retract in the second direction, so as to avoid the legs interfering with the movement of the photovoltaic installation robot.

[0091] Referring to Figure 1, the leg assembly includes a first leg assembly 100, a second leg assembly 200, a third leg assembly 300, and a fourth leg assembly 400. The first leg assembly 100 and the second leg assembly 200 are both disposed at one end of the robot body 20 along a third direction, and the first leg assembly 100 and the second leg assembly 200 are symmetrically disposed on both sides of the robot body 20 along a first direction. The third leg assembly 300 and the fourth leg assembly 400 are both disposed at the other end of the robot body 20 along a third direction, and the third leg assembly 300 and the fourth leg assembly 400 are symmetrically disposed on both sides of the robot body 20 along the first direction; wherein, the first direction, the second direction, and the third direction are perpendicular to each other.

[0092] It should be noted that the third direction is the direction indicated by z in Figure 1.

[0093] It is understandable that the robot body 20 can be supported by the first leg assembly 100, the second leg assembly 200, the third leg assembly 300 and the fourth leg assembly 400, so that the robot body 20 can be supported in all directions, thereby improving the grip performance of the robot body 20, improving the structural stability of the robot body 20, and further improving the safety and reliability of the photovoltaic installation robot.

[0094] Referring to Figures 2, 6, and 9, the first leg assembly 100 includes a first servo driver 110 and a first leg 120 drivenly connected to the first servo driver 110; the second leg assembly 200 includes a second servo driver 210 and a second leg 220 drivenly connected to the second servo driver 210; the third leg assembly 300 includes a third servo driver 310 and a third leg 320 drivenly connected to the third servo driver 310; and the fourth leg assembly 400 includes a fourth servo driver 410 and a fourth leg 420 drivenly connected to the fourth servo driver 410.

[0095] The first servo driver 110, the second servo driver 210, the third servo driver 310 and the fourth servo driver 410 are all electrically connected to the controller 510.

[0096] It is understood that the first leg 120 can be extended or retracted in the second direction by the first servo driver 110, the second leg 220 can be extended or retracted in the second direction by the second servo driver 210, the third leg 320 can be extended or retracted in the second direction by the third servo driver 310, and the fourth leg 420 can be extended or retracted in the second direction by the fourth servo driver 410, so that each servo driver can control the extension and retraction of one leg, thereby achieving the leveling of the robot body 20 by extending and retracting different legs.

[0097] Referring to FIG9, the outrigger leveling structure 10 also includes an alarm component 600, which is electrically connected to the controller 510. When the outrigger extends to its limit position in the second direction and still does not support the ground, the controller 510 controls the alarm component 600 to issue an alarm signal.

[0098] Understandably, before, during, or after leveling, if the outrigger fails to support the ground when the servo drive extends it to its maximum length in the second direction, the controller 510 can control the alarm component 600 to issue an alarm signal to alert the operator. This allows the operator to readjust (e.g., by manually filling in potholes or adjusting the position of the photovoltaic installation robot) and restart the servo drive to re-drive the outrigger to extend in the second direction.

[0099] Referring again to Figure 9, the control assembly 500 further includes an attitude position sensor 520, which is electrically connected to the controller 510. When each leg is supported on the ground, each leg has a highest point located at the end of the leg away from the ground along a second direction. The attitude position sensor 520 detects the position signal of each highest point and transmits each position signal to the controller 510. This position signal is used to determine the robot's main body posture.

[0100] Understandably, when each leg is driven by its corresponding servo driver and supported by the ground, the attitude position sensor 520 can detect the position signal of the highest point of each leg and transmit each position signal to the controller 510. This is to detect whether the plane on which the robot body 20 composed of the highest points of multiple legs is level. If the highest points of multiple legs are not located in the same horizontal plane, the controller 510 can control the servo drivers of multiple leg components that need to be extended to start, so that the servo drivers can drive the legs to extend, thereby making the highest point of each leg located in the same horizontal plane, thereby achieving the leveling of the robot body 20.

[0101] Referring to Figures 1 and 9, the photovoltaic installation robot involved in the embodiments of this application includes: a robot body 20 and the aforementioned outrigger leveling structure 10.

[0102] In the aforementioned photovoltaic installation robot, since the outrigger leveling structure 10 can detect at any time whether the outrigger has actually provided support to the ground, the supporting effect of the outrigger assembly on the robot body 20 is improved, so that the aforementioned photovoltaic installation robot has strong safety and reliability.

[0103] Referring to FIG1, the above-mentioned outrigger leveling structure 10 also includes a connecting component 700, and each outrigger component is connected to the robot body 20 through the connecting component 700.

[0104] In one example, referring to FIG2, the connecting assembly 700 includes a first connector 710, a second connector 720, and a third connector 730. The first connector 710 is connected to one end of the robot body 20 along a third direction, and the first connector 710 is provided with a connecting through hole 711 extending along the first direction. One end of the second connector 720 is connected to the first leg assembly 100, and the other end of the second connector 720 passes through one end of the connecting through hole 711. One end of the third connector 730 is connected to the second leg assembly 200, and the other end of the third connector 730 passes through the other end of the connecting through hole 711.

[0105] Further, referring to Figures 3 and 4, the first connector 710 and the second connector 720 are movable relative to the first connector 710 in a first direction within the connecting through hole 711. The first connector 710 has a first fixing through hole 712 and a second fixing through hole 713 spaced apart from the first fixing through hole 712 in the first direction. The first fixing through hole 712 is located further away from the first support leg assembly 100 than the second fixing through hole 713, and both the first fixing through hole 712 and the second fixing through hole 713 extend in a second direction. The second connector... A third fixing through hole 721 is provided at the end of the connection assembly 700 away from the first leg assembly 100. The connection assembly 700 also includes a first fixing member 740. During the movement of the photovoltaic installation robot, the second connecting member 720 moves along a first direction relative to the first connecting member 710 toward the direction closer to the second leg assembly 200 (i.e., toward the central axis of the robot body 20), and the first fixing through hole 712 and the third fixing through hole 721 are coaxially arranged. The first fixing member 740 is then simultaneously inserted through the first fixing through hole 712 and the third fixing through hole 721. Within the hole 721, the first connector 710 and the second connector 720 are fixed, further fixing the robot body 20 and the first leg assembly 100. During this process, the first leg assembly 100 is positioned close to the robot body 20 to facilitate movement of the robot body 20. Furthermore, when the photovoltaic installation robot is supported on the ground, the second connector 720 can move along a first direction relative to the first connector 710 in a direction away from the second leg assembly 200 (i.e., towards the outside of the robot body 20), allowing the first... The second fixed through hole 713 and the third fixed through hole 721 are coaxially arranged, and the first fixing member 740 is simultaneously inserted into the second fixed through hole 713 and the third fixed through hole 721 to fix the first connecting member 710 and the second connecting member 720, and further fix the robot body 20 and the first leg assembly 100. In this process, the first leg assembly 100 is set away from the robot body 20 to support the robot body 20, provide a larger overturning moment for the robot body 20, and prevent the robot body 20 from tipping over.

[0106] Similarly, referring to Figures 3 and 5, the first connector 710 is also provided with a fourth fixing through hole 714 and a fifth fixing through hole 715 spaced apart from the fourth fixing through hole 714 along the first direction. The fourth fixing through hole 714 is located further away from the second leg assembly 200 than the fifth fixing through hole 715, and both the fourth fixing through hole 714 and the fifth fixing through hole 715 extend along the second direction. The third connector 730 has a sixth fixing through hole 731 at one end away from the second leg assembly 200. The connecting assembly 700 It also includes a second fixing member 750. During the movement of the photovoltaic installation robot, the third connecting member 730 moves along a first direction relative to the first connecting member 710 toward the direction closer to the first leg assembly 100 (i.e., toward the central axis of the robot body 20), and the fourth fixing through hole 714 and the sixth fixing through hole 731 are coaxially arranged. The second fixing member 750 is then simultaneously inserted into both the fourth fixing through hole 714 and the sixth fixing through hole 731 to achieve the connection between the first connecting member 710 and the third connecting member 730. The fixing of 30 further secures the robot body 20 to the second leg assembly 200. During this process, the second leg assembly 200 is positioned close to the robot body 20 to facilitate the movement of the robot body 20. Furthermore, when the photovoltaic installation robot is supported on the ground, the third connector 730 can move in the first direction relative to the first connector 710 away from the first leg assembly 100 (i.e., move towards the outside of the robot body 20), and the fifth fixing through hole 715 and the sixth fixing through hole 731 are coaxially arranged. The second fixing member 750 is simultaneously inserted into the fifth fixing through hole 715 and the sixth fixing through hole 731 to secure the first connector 710 and the third connector 730, further securing the robot body 20 to the second leg assembly 200. During this process, the second leg assembly 200 is positioned away from the robot body 20 to support the robot body 20, providing a larger overturning moment for the robot body 20 and preventing the robot body 20 from tipping over.

[0107] Referring to FIG6, the connecting assembly 700 further includes a fourth connector 760 and a fifth connector 770. The fourth connector 760 and the fifth connector 770 are both disposed at the end of the robot body 20 away from the first connector 710 along a third direction. The fourth connector 760 and the second connector 720 are located on the same side of the robot body 20 along the first direction. The fifth connector 770 and the third connector 730 are located on the same side of the robot body 20 along the first direction. One end of the fourth connector 760 is fixedly connected to the third leg assembly 300, and the other end of the fourth connector 760 is rotatably connected to the robot body 20. The fourth connector 760 rotates relative to the robot body 20 around a second direction. One end of the fifth connector 770 is fixedly connected to the fourth leg assembly 400, and the other end of the fifth connector 770 is rotatably connected to the robot body 20. The fifth connector 770 rotates relative to the robot body 20 around a second direction.

[0108] Further, referring to Figure 7, a plurality of seventh fixing through holes 21 extending along the second direction are provided at the connection between the robot body 20 and the fourth connector 760. These seventh fixing holes surround the connection between the robot body 20 and the fourth connector 760 around the second direction. An eighth fixing through hole 761 extending along the second direction is provided at the end of the fourth connector 760 away from the third leg assembly 300. The connector 700 also includes a third fixing member 780. During the movement of the photovoltaic installation robot, the fourth connector 760 rotates relative to the robot body 20 around the second direction until it is in contact with one edge of the robot body 20 along the first direction. The eighth fixing through hole 761 is coaxially arranged with one of the seventh fixing through holes 21. The third fixing member 780 then passes through both the seventh fixing through hole 21 and the eighth fixing through hole 761, thereby fixing the fourth connector 760 to the robot body 20 and further securing the third leg. The third leg assembly 300 is fixed to the robot body 20. During this process, the third leg assembly 300 is positioned close to the robot body 20 to facilitate the movement of the robot body 20. Furthermore, when the photovoltaic installation robot is supported on the ground, the fourth connector 760 rotates relative to the robot body 20 in a second direction and moves away from the robot body 20. The eighth fixing through hole 761 is coaxially arranged with one of the seventh fixing through holes 21 that is away from the robot body 20. The third fixing member 780 passes through both the seventh fixing through hole 21 and the eighth fixing through hole 761 to fix the fourth connector 760 to the robot body 20. This further fixes the third leg assembly 300 to the robot body 20. During this process, the third leg assembly 300 is positioned away from the robot body 20 to support the robot body 20, providing a greater overturning moment and preventing the robot body 20 from tipping over.

[0109] Correspondingly, referring to Figure 8, the connection between the robot body 20 and the fifth connector 770 is provided with multiple ninth fixing through holes 22 extending along the second direction. Multiple seventh fixing holes are arranged around the connection between the robot body 20 and the fifth connector 770 in the second direction. The end of the fifth connector 770 away from the fourth leg assembly 400 is provided with a tenth fixing through hole 771 extending along the second direction. The connector assembly 700 also includes a fourth fixing member 790. During the movement of the photovoltaic installation robot, the fifth connector 770 is rotated relative to the robot body 20 in the second direction until it is in contact with the other edge of the robot body 20 along the first direction. The tenth fixing through hole 771 is coaxially arranged with one of the ninth fixing through holes 22. The fourth fixing member 790 is then inserted into both the ninth fixing through hole 22 and the tenth fixing through hole 771 to fix the fifth connector 770 to the robot body 20, further realizing the fourth leg. The fourth leg assembly 400 is fixed to the robot body 20. During this process, the fourth leg assembly 400 is positioned close to the robot body 20 to facilitate the movement of the robot body 20. Furthermore, when the photovoltaic installation robot is supported on the ground, the fifth connector 770 rotates relative to the robot body 20 in a second direction and moves away from the robot body 20. The tenth fixing through hole 771 is coaxially arranged with one of the ninth fixing through holes 22 away from the robot body 20. The fourth fixing member 790 passes through both the ninth fixing through hole 22 and the tenth fixing through hole 771 to fix the fifth connector 770 to the robot body 20. This further fixes the fourth leg assembly 400 to the robot body 20. During this process, the fourth leg assembly 400 is positioned away from the robot body 20 to support the robot body 20, providing a greater overturning moment and preventing the robot body 20 from tipping over.

[0110] In one embodiment, this application also provides a robot leveling method, which can be implemented based on the above-mentioned outrigger leveling structure 10; and, this embodiment can achieve highly automated leveling of the photovoltaic installation robot through this robot leveling method, and the leveling process can be carried out before actual work or during actual work, and this embodiment is not limited to this.

[0111] As an example, referring to Figure 10, a processor 30 and multiple photovoltaic installation robots (robot 1, robot 2, ..., robot n as shown in Figure 10, where n is a positive integer) can be located in the same local area network, so that the processor 30 and the leg leveling structure 10 corresponding to each photovoltaic installation robot can communicate in the same local area network in a wired or wireless manner; wherein, the processor 30 is used to control the position and posture of each robot body 20 through the leg leveling structure 10.

[0112] It is understood that the processor 30 in this embodiment is used to execute the corresponding leveling process through the leg leveling structure 10 to regulate the pose state of each robot body 20, and can ensure the synchronous leveling of all robot bodies 20 in the same local area network during the actual leveling process.

[0113] Optionally, the photovoltaic installation robots corresponding to each robot body 20 can belong to the same robot formation or different robot formations; the processor 30 can be located inside the master control robot in a robot formation (in this case, the processor 30 can be regarded as the controller 510 inside the outrigger leveling structure 10). The selection method of the master control robot in the same robot formation is not limited here; for example, any photovoltaic installation robot in a robot formation can be selected as the master control robot.

[0114] Alternatively, the processor 30 can also be an external processor used to control all photovoltaic installation robots in the robot formation. In this case, the processor 30 can communicate with the controller 510 of the outrigger leveling structure 10 corresponding to each photovoltaic installation robot. The processor 30 can obtain relevant data from the controller 510 and adjust the position and posture of each robot body 20 accordingly through the controller 510 to achieve outrigger leveling of each photovoltaic installation robot.

[0115] The specific configuration and location of the processor 30 can be set according to actual needs, and this embodiment does not limit them.

[0116] Correspondingly, the robot leveling method described above can be applied to all photovoltaic installation robots in a synchronized state, or to photovoltaic installation robots in a stand-alone working state.

[0117] As shown in Figure 11, the following example illustrates the leveling method for this robot.

[0118] S110, after entering the leveling mode, adjusts the driving torque of all legs used to support the robot body 20, and obtains the first torque value of each leg after adjustment.

[0119] In some examples, each photovoltaic installation robot needs to level its outriggers before entering the operation. That is, before entering the formal operation, each photovoltaic installation robot enters the leveling mode to perform the leveling process, which facilitates more reliable subsequent operation.

[0120] In another example, after each photovoltaic installation robot enters the operation, if the outrigger leveling structure 10 receives a leveling signal sent by the processor 30, or if it is determined during the real-time posture monitoring process that the robot body 20 has tilted, then it will re-enter the leveling process to achieve leveling during the operation.

[0121] In other words, the photovoltaic installation robot can enter the leveling mode both before and after entering the operation to achieve real-time leveling of each outrigger.

[0122] In the outrigger leveling structure 10, the attitude position sensor 520 of the control component 500 can collect the current pose data of the robot body 20. If the robot body 20 is to be tilted and enter the leveling process by monitoring its pose in real time, the attitude position sensor 520 is used to acquire and monitor the real-time pose of the robot body 20, and then the tilt angle of the robot body 20 is calculated based on the real-time pose. If it is determined that the current tilt angle of the robot body 20 is greater than the preset angle value, the leveling mode is entered.

[0123] For reference, when calculating the tilt angle of the robot body 20 based on the real-time pose, a quaternion pose calculation method can be used to calculate the pose data collected by the pose position sensor 520, thereby obtaining the Euler angles used to determine the tilt angle. The Euler angles are then compared with preset reference Euler angles to determine whether tilting has occurred. Specifically, if the deviation between the Euler angles and the preset reference Euler angles is greater than a preset deviation range, it indicates that tilting has occurred; otherwise, tilting has not occurred. The values ​​of the preset reference Euler angles and the preset deviation range are not limited in this regard.

[0124] It is understandable that by monitoring the pose data of each leg used to support the robot body 20 in real time, it is determined whether to enter the leveling mode, so as to ensure the working safety and reliability of the robot body 20 during operation and avoid problems such as abnormal operation results caused by the robot body 20 tilting.

[0125] In this embodiment, whether before or after entering the operation, the processor 30 achieves leveling by adjusting the various outriggers used to support the photovoltaic installation robot after entering the leveling mode.

[0126] It is important to note that after entering the leveling mode, before officially starting the leveling process, it is necessary to determine whether there is any false support (such as whether it is effectively in contact with the ground) among the legs used to support the same robot body 20. If there is false support, it will affect the force on the robot body 20 itself, and thus affect the leveling effect.

[0127] Subsequently, after each photovoltaic installation robot enters the leveling mode, the controller 510 first activates the torque mode of the servo driver in each leg assembly that supports the same robot body 20 (i.e., adjusts the driving torque of all legs that support the photovoltaic installation robot), controls each leg that supports the same robot body 20 to descend rapidly to contact the ground, so that each leg stands stably on the same horizontal plane before leveling is achieved, thereby improving the leveling accuracy and reliability.

[0128] Then, the first torque value of each leg used to support the same robot body 20 after adjustment is obtained, and subsequent processes are executed based on the first torque value.

[0129] S120, if the first torque value is greater than or equal to the preset torque value and it is determined that the push rods of each leg have not reached the limit position, then the current pose of the robot body 20 is obtained to determine whether each robot body 20 is tilted at present.

[0130] For example, the process of determining whether the legs supporting the same robot body 20 are providing virtual support involves obtaining the first torque value of each leg, and then determining the actual support status of the leg based on the magnitude of the first torque value. Specifically, if the first torque value of a leg is less than a preset torque value, it indicates that the leg is currently in a virtual support state; if the first torque value of a leg is greater than or equal to the preset torque value, it indicates that the leg is currently in a real support state. The preset torque value can be set according to actual needs and is not limited here.

[0131] Furthermore, it is determined whether the push rods corresponding to each leg supporting the same robot body 20 have reached their limit positions. If the push rods have reached their limit positions, it is easy for the action direction and working performance of the push rod mechanism to change, which may lead to damage to the servo motor. Therefore, during the leveling process, it is necessary to ensure that the push rods of the legs are within a safe range (i.e., not reaching their limit positions).

[0132] In some examples, the process of determining when the push rod of each leg reaches its limit position is as follows: monitor the working status of the limit switch connected to the push rod of each leg; if the working status of any limit switch is in the open state, then determine that the push rod of the corresponding leg has reached its limit position.

[0133] For reference, limit switches are installed at corresponding positions on the push rods of each outrigger. When the push rod reaches its limit position, the limit switch is triggered, thereby cutting off the power and stopping the drive motor, thus achieving stroke control. The specific installation position of the limit switch can be set according to actual needs and is not limited here.

[0134] If the limit switch connected to the push rod of any leg is triggered, it indicates that the push rod of that leg has reached its limit position. Optionally, the working state corresponding to the triggering of the limit switch can be set according to actual needs. This embodiment does not limit this. For example, the limit switch can be set to be in the open state when triggered, and the push rod can be indicated to have reached its limit position when the limit switch is detected to be in the open state; conversely, the limit switch can also be set to be in the closed state when triggered, etc.

[0135] As an optional implementation, an alarm signal is issued if the first torque value of the outrigger is determined to be less than the preset torque value, or if the push rod of the outrigger is determined to have reached the limit position; optionally, the leveling process of the photovoltaic installation robot is stopped at the same time as the alarm signal is issued.

[0136] Furthermore, if the first torque value is greater than or equal to the preset torque value and it is determined that the push rods used to support each leg of the same robot body 20 have not reached their limit positions, then the current pose of the corresponding robot body 20 is obtained to determine whether the robot body 20 is currently tilted, that is, to determine whether the corresponding robot body 20 needs to be leveled.

[0137] When determining whether the robot body 20 is currently tilted, a tilt dynamic equation can be constructed based on the current pose of the robot body 20. Euler angles are calculated based on the tilt dynamic equation, and the Euler angles are compared with preset reference Euler angles to determine whether the robot body 20 is currently tilted and the tilt direction and tilt angle.

[0138] In one example, the attitude position sensor 520 collects the current pose data of the robot body 20 in real time (i.e., the current pose, and multiple current poses can be collected at the same time). The pose data can be collected in the form of quaternions, that is, the attitude position sensor 520 collects the quaternions q0, q1, q2, and q3 at the current time, and uses them to construct the tilt dynamic equation.

[0139] Optionally, before constructing the tilt dynamic equation, the average filtering process can be applied to multiple current poses acquired by the attitude position sensor 520 at the same time to obtain pose data for constructing the tilt dynamic equation. Then, outliers are removed to obtain stable and reliable pose data, and a tilt dynamic equation with high accuracy and reliability.

[0140] The tilt dynamic equation is constructed in the form of a direction cosine matrix as follows: t11=q.q0*q.q0+q.q1*q.q1-q.q2*q.q2-q.q3*q.q3; t12=2.0*(q.q1*q.q2+q.q0*q.q3); t13=2.0*(q.q1*q.q3-q.q0*q.q2); t21=2.0*(q.q1*q.q2-q.q0*q.q3); t22=q.q0*q.q0-q.q1*q.q1+q.q2*q.q2-q.q3*q.q3; t23=2.0*(q.q2*q.q3+q.q0*q.q1); t31=2.0*(q.q1*q.q3+q.q0*q.q2); t32=2.0*(q.q2*q.q3-q.q0*q.q1); t33=q.q0*q.q0-q.q1*q.q1-q.q2*q.q2+q.q3*q.q3.

[0141] Euler angles can be calculated based on the above tilt dynamic equations, including roll angle, pitch angle, and yaw angle. Specifically, roll angle θ = atan2(t23, t33); pitch angle γ = -asin(t13); yaw angle Ψ = atan2(t12, t11); and the yaw angle value is positive.

[0142] The calculated Euler angles are compared with preset reference Euler angles. If the deviation between the calculated Euler angles and the preset reference Euler angles is greater than the preset deviation range, it indicates that the robot body 20 is currently tilted; otherwise, it indicates that the robot body 20 is not currently tilted. The preset reference Euler angles are used to characterize that the robot body 20's pose is not tilted. Optionally, the specific values ​​of the preset reference Euler angles and the preset deviation range can be set according to actual needs and are not limited here.

[0143] S130, if it is determined that the robot body 20 is currently tilted, then calculate the leg motion of the target leg to bring the robot body 20 into a balanced state based on the current pose.

[0144] If it is determined that the robot body 20 is currently tilted, the leg motion of the target leg to bring the robot body 20 into a balanced state is calculated based on the calculated Euler angles. Conversely, if it is determined that the current pose of the robot body 20 is not tilted, the leveling process can be exited.

[0145] In some examples, as shown in Figure 12, the process of "calculating the amount of motion for adjusting the support leg" in S130 above may include the following steps:

[0146] S131, construct the tilt dynamic equation based on the current pose data of the robot body 20.

[0147] S132, the Euler angles are calculated based on the tilt dynamic equation.

[0148] S133, compare the Euler angles with the preset reference Euler angles to determine the tilt direction.

[0149] S134, determine the target outrigger to be adjusted in the tilt direction, and calculate the outrigger motion of the target outrigger.

[0150] It is understood that the steps S231-S233 are consistent with the above-mentioned process for determining whether the robot body 20 is currently tilted, so they will not be repeated here.

[0151] Optionally, after determining whether the robot body 20 is currently tilted based on the calculated Euler angles, the Euler angles can be directly used to calculate the leg movement of the target leg to be adjusted in the tilt direction.

[0152] By comparing the calculated Euler angles with the preset reference Euler angles, the specific direction and angle of the roll can be determined. That is, if any one or more of the pitch, yaw, and roll angles deviate from the reference Euler angles, the current roll state and roll angle can be determined.

[0153] For example, if the pitch angle of the Euler angle deviates, four tilt states can be obtained: forward and backward tilt, forward and backward tilt, left and right flip, and left and right tilt. Then, the tilt state of the robot body 20 can be determined based on the specific value of the pitch angle.

[0154] Taking a robot body 20 with 4 legs and a lever arm of L1 for each leg as an example, if the robot body 20 is currently in a forward tilt or backward tilt state, the legs that should be adjusted are the two front legs on the left and right, and the adjustment value (i.e. the amount of leg movement) of these two front legs can be calculated as L1*sin(γ).

[0155] If it is determined that the robot body 20 is currently in a forward-leaning or backward-leaning state, the legs that should be adjusted are the two rear legs on the left and right sides, and the height adjustment value of these two rear legs can be calculated accordingly as L1*sin(γ).

[0156] If it is determined that the robot body 20 is currently in a left-right flipping state, the legs that should be adjusted are the two legs on the left (left front leg and left rear leg), and the height adjustment value of these two legs can be calculated accordingly as L1*sin(γ).

[0157] If it is determined that the robot body 20 is currently in a left-tilt-right-tilt state, the legs that should be adjusted are the two right legs (right front leg and right rear leg), and the height adjustment value of these two legs can be calculated accordingly as L1*sin(γ).

[0158] S240 adjusts the movement of the target leg according to the amount of movement of the outrigger until the robot body 20 is determined to be in a balanced state.

[0159] After calculating the leg motion of the target leg to be controlled, the processor 30 or controller 510 sends it to the driver of the leg to control the leg to move according to the leg motion until the robot body 20 in the normal state is in a balanced state, thereby ending the leveling process and exiting the leveling mode.

[0160] In one embodiment, during the process of regulating the movement of the outriggers based on the amount of outrigger motion, this embodiment can also correspondingly regulate the speed of the outrigger movement, that is, the leveling speed (i.e., the regulation speed) of the outriggers can be set according to actual needs. Optionally, a PID control module is used to optimize the regulation speed of the target outrigger movement; wherein, based on the current pose of the robot body 20, the current adjustment angle of the target outrigger for bringing the robot body 20 into a balanced state is calculated; after the current adjustment angle is input to the PID control module, the optimized regulation speed is output. The PID control module can calculate the optimized regulation speed based on the internally set PID parameters; in addition, the PID control module can be set in the processor 20 or the controller 510, and can be adaptively set according to actual needs, which is not limited in this embodiment.

[0161] The optimized control speed is calculated as: Speed ​​reference * (P * Current adjustment angle + i * Cumulative angle error + d * Angle derivative); the current adjustment angle can be calculated based on the Euler angles obtained above. For example, the speed reference is 1000 rpm; the preset tuning parameters for P, I, and D are 50, 40, and 120, respectively.

[0162] In one embodiment, after determining that the robot body 20 is in a balanced state during the process of adjusting the movement of the outriggers based on the amount of outrigger movement and during the leveling process, the second torque value of each outrigger supporting the same robot body 20 at the current moment can be further obtained to determine whether the outrigger is currently providing virtual support; that is, to determine whether the second torque value is less than the preset torque value; if it is determined that the second torque value is less than the preset torque value, it is determined that the leveling mode needs to be entered again, and the number of times the leveling mode needs to be entered is recorded. If the number of times the leveling mode needs to be entered is greater than the preset number, an alarm signal is issued; wherein, the specific value of the preset number can be set according to actual needs, and this embodiment does not limit it.

[0163] That is, if the second torque value is determined to be less than the preset torque value, the leg is determined to be currently in a false support state and needs to be leveled again. If the robot body 20 is still in a tilted state or a leg is in a false support state after multiple leveling adjustments, an alarm will be issued.

[0164] Conversely, if it is determined that the second torque value is greater than or equal to the preset torque value and the robot body 20 is in a balanced state, the robot body 20 leveling process ends and the leveling mode is exited.

[0165] It is understandable that during the leveling process of the robot body 20, if at any moment the torque value of a support leg reaches the preset torque value, or the push rod reaches the limit position, an alarm signal will be issued; optionally, the leveling process of the robot body 20 can be stopped at the same time as issuing the alarm signal.

[0166] In this embodiment, highly automated leveling of the robot body 20 is achieved. Before controlling the movement of the outriggers, the torque value of the outriggers and whether the push rods have reached their limit positions are detected. This avoids the problems of low leveling accuracy and poor reliability caused by false support or changes in the direction and performance of the push rod mechanism during the leveling process. Furthermore, this embodiment can also control the leveling speed accordingly during the leveling process, thereby achieving high-precision leveling control while accelerating the leveling speed, which helps to improve the leveling performance of the robot body 20.

[0167] In some examples, embodiments of this application also provide a robot leveling method, which can be applied to the aforementioned leg leveling structure 10, thereby achieving leveling of the robot body 20 based on the aforementioned leg leveling structure 10. In this embodiment, the robot leveling method can also achieve highly automated leveling, and the leveling process can be performed after entering the working state. That is, this embodiment can monitor in real time whether leveling is needed again during the working process after completing the leveling before work begins.

[0168] It is understood that this embodiment can determine whether there is a false support phenomenon between each leg and the ground during subsequent work, and after determining that a false support phenomenon has occurred, the robot body 20 is leveled again, thereby avoiding the photovoltaic installation robot from tipping over during work and ensuring the working reliability of the photovoltaic installation robot.

[0169] As an example, referring to Figure 13, the leg leveling structure may include the following steps in performing the robot leveling method:

[0170] S210 controls the extension of each outrigger in the second direction.

[0171] In this process, the controller 510 controls each servo driver to drive the leg connected to it to extend along the second direction.

[0172] S220: Acquire the current change signal of each servo driver and determine whether the current change signal of each servo driver is greater than a first preset value.

[0173] The controller 510 receives the current change signal from the servo driver.

[0174] S230, if the current change signal of the servo driver is greater than the first preset value, the support leg connected to the servo driver is controlled to stop moving.

[0175] When the controller 510 determines that the current change signal of the servo driver is greater than the first preset value, it indicates that the outrigger has made contact with the ground.

[0176] S240, determine the posture of the robot body 20;

[0177] The controller 510 determines whether the robot body 20 needs to be leveled by judging the posture of the robot body 20.

[0178] S250, when the robot body 20 is in an inclined state, control one or more legs to extend along the second direction so that the robot body 20 is adjusted to a horizontal state.

[0179] The controller 510 levels the robot body 20 by controlling one or more legs to extend in a second direction, thereby adjusting the robot body 20 to a horizontal position.

[0180] S260, when the robot body 20 is in a horizontal state, the current change signal of each servo driver is acquired, and it is determined whether the current change signal of each servo driver is greater than the second preset value.

[0181] When the controller 510 determines that the current change signal of the servo driver is less than the second preset value, it indicates that the support relationship between the outrigger and the ground has changed, that is, a false support has been generated.

[0182] S270, if the current change signal of the servo driver is less than the second preset value, the leg connected to the servo driver is controlled to extend in the second direction.

[0183] The controller 510 controls the outriggers connected to the servo driver to extend in the second direction, so that the outriggers that have created virtual support are supported again on the ground.

[0184] In the aforementioned robot leveling process, before leveling the robot body 20, the controller 510 can control each leg to extend along the second direction so that each leg can support the ground. This supports the robot body 20 through the leg assembly, improving the safety of the photovoltaic installation robot during photovoltaic installation. During the extension of the legs along the second direction, the controller can determine whether each leg is supporting the ground by acquiring the current change signal of each servo driver. If the current change signal of the servo driver is greater than a first preset value, it indicates that the leg has made contact with the ground. At this time, the controller 510 can control the servo driver to slowly stop. After each leg has made contact with the ground, the controller determines the posture of the robot body 20 to determine whether leveling is required. When the robot body 20 is tilted, one or more legs are controlled to extend. Each outrigger extends along a second direction to adjust the robot body 20 to a horizontal state. When the robot body 20 is adjusted to a horizontal state, or was already in a horizontal state before leveling, the current change signal of each servo driver is acquired, and it is determined whether the current change signal of each servo driver is less than a second preset value. If the current change signal of the servo driver is less than the second preset value, it indicates that the support relationship between the outrigger and the ground has changed, that is, a false support has been generated. At this time, the outrigger connected to the servo driver can be controlled to extend along the second direction, which can level the robot body 20, so that the outrigger that generated false support can be supported with the ground again. This improves the stability of the support between the outrigger and the ground, further improves the support effect of the outrigger assembly on the robot body 20, and further improves the safety and reliability of the photovoltaic installation robot. The second preset value is greater than the first preset value; the specific values ​​of the first and second preset values ​​can be set according to actual needs, and this embodiment is not limited in this respect.

[0185] It is understood that, based on the outrigger leveling structure 10 discussed in the foregoing embodiments, this embodiment determines the posture of the robot body 20 (i.e., whether the robot body 20 is in a horizontal or tilted posture) by the detection value of the posture position sensor 520; wherein, the posture position sensor 520 is used to detect the position signal of each highest point of each outrigger and transmit each position signal to the controller 510, and the controller 510 determines the posture of the robot body 20 based on the position signal.

[0186] In one example, regardless of whether the robot body 20 is in a leveling state (i.e., regardless of whether the robot body 20 is in leveling mode), an alarm is triggered if it is determined that any leg has extended to its limit position. For example, limit switches are installed at corresponding positions of the push rods on each leg. When the push rod reaches its limit position, the limit switch is triggered, thereby cutting off the power and stopping the drive motor. That is, the controller 510 can determine whether the leg has extended to its limit position and whether to trigger an alarm based on the operating state of the limit switch. Specifically, if the limit switch corresponding to any leg is in the open state, it is determined that the push rod of the corresponding leg has reached its limit position, thus triggering an alarm. Furthermore, the controller 510 can trigger an alarm by controlling an alarm component.

[0187] Understandably, after leveling the robot body 20, if it is determined that the robot body 20 is tilted or the current change signal of the servo drive is less than the second preset value, it indicates that the support relationship between the outrigger and the ground has changed, i.e., a false support has been generated. At this time, when the outrigger connected to the servo drive is extended along the second direction, if the outrigger has been extended to the limit position and the current change signal of the servo drive is still less than the second preset value, i.e., the outrigger has not yet provided support to the ground, an alarm can be triggered to warn the operator, so that the operator can readjust (e.g., by manually filling in potholes or adjusting the position of the photovoltaic installation robot), and then restart the servo drive to re-drive the outrigger to extend along the second direction, so that the outrigger can provide support to the ground.

[0188] In one example, as shown in Figure 14, this application also provides a robot leveling device, which includes:

[0189] The torque control module 810 is used to control the driving torque of all the legs of the robot body 20 after entering the leveling mode, and to obtain the first torque value of each leg after the control.

[0190] The judgment module 820 is used to obtain the current pose of the robot body 20 if the first torque value is greater than or equal to the preset torque value and it is determined that the push rods of each of the legs have not reached the limit position, so as to determine whether the robot body 20 is currently tilted.

[0191] The calculation module 830 is used to calculate the leg motion of the target leg to bring the robot body 20 into a balanced state based on the current pose if it is determined that the robot body 20 is currently tilted.

[0192] The outrigger control module 840 is used to control the movement of the target outrigger according to the amount of outrigger movement until the robot body 20 is determined to be in a balanced state.

[0193] It is understood that the robot leveling device in this embodiment corresponds to the robot leveling method in the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0194] In another example, as shown in Figure 15, this application also provides a robot leveling device, which includes:

[0195] The first control module 910 is used to control the extension of each outrigger along the second direction;

[0196] The first judgment module 920 is used to acquire the current change signal of each servo driver and determine whether the current change signal of each servo driver is greater than a first preset value.

[0197] The second control module 930 is used to control the leg connected to the servo driver to stop moving if the current change signal of the servo driver is greater than the first preset value.

[0198] The second judgment module 940 is used to determine the robot's main body posture;

[0199] The third control module 950 is used to control one or more of the legs to extend along the second direction when the robot body 20 is in an inclined state, so as to adjust the robot body to a horizontal state.

[0200] The third judgment module 960 is used to acquire the current change signal of each servo driver when the robot body 20 is in a horizontal state, and to determine whether the current change signal of each servo driver is less than a second preset value.

[0201] The fourth control module 970 is used to control the leg connected to the servo driver to extend along the second direction if the current change signal of the servo driver is less than the second preset value.

[0202] It is understood that the robot leveling device in this embodiment corresponds to the robot leveling method in the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0203] This application also provides a photovoltaic installation robot, which, exemplary, includes a processor, a memory, and the aforementioned outrigger leveling structure. The memory stores a computer program, and the processor executes the photovoltaic installation robot leveling method of this application by running the computer program.

[0204] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0205] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). The memory stores computer programs, and the processor, upon receiving execution instructions, can execute the computer programs accordingly.

[0206] In addition, this application also provides a computer storage medium for storing the computer program used in the photovoltaic installation robot described above, wherein when the computer program is executed on a processor, it implements the photovoltaic installation robot leveling method of the above embodiments.

[0207] The aforementioned computer storage medium can be a non-volatile storage medium or a volatile storage medium. For example, the computer storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0208] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0209] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0210] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0211] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A leg levelling structure characterised in that, The application comprises: a plurality of leg assemblies, the plurality of leg assemblies are symmetrically arranged on both sides of a robot body of a photovoltaic installation robot along a first direction, each of the leg assemblies comprises a servo driver and a leg drivenly connected with the servo driver, the servo driver drives the leg to extend or contract along a second direction; a control assembly, the control assembly comprises a controller, the servo driver of each of the leg assemblies is electrically connected with the controller, the controller is configured to control the servo driver to drive the leg to extend or contract along the second direction, and is configured to receive a current change signal of each of the servo drivers; wherein the first direction and the second direction are perpendicular to each other.

2. The leg levelling structure according to claim 1, characterised in that, The leg assemblies comprise a first leg assembly, a second leg assembly, a third leg assembly and a fourth leg assembly, the first leg assembly and the second leg assembly are arranged at one end of the robot body along a third direction, and the first leg assembly and the second leg assembly are symmetrically arranged on both sides of the robot body along the first direction, the third leg assembly and the fourth leg assembly are arranged at the other end of the robot body along the third direction, and the third leg assembly and the fourth leg assembly are symmetrically arranged on both sides of the robot body along the first direction; wherein the first direction, the second direction and the third direction are perpendicular to each other.

3. The leg levelling structure according to claim 2, characterised in that, The first leg assembly comprises a first servo driver and a first leg drivenly connected with the first servo driver, the second leg assembly comprises a second servo driver and a second leg drivenly connected with the second servo driver, the third leg assembly comprises a third servo driver and a third leg drivenly connected with the third servo driver, and the fourth leg assembly comprises a fourth servo driver and a fourth leg drivenly connected with the fourth servo driver; wherein the first servo driver, the second servo driver, the third servo driver and the fourth servo driver are electrically connected with the controller.

4. The leg leveling structure of claim 1, wherein, The leg leveling structure further comprises an alarm assembly electrically connected with the controller, when the leg extends to a limit position along the second direction and still does not support the ground, the controller controls the alarm assembly to send an alarm signal.

5. The leg leveling structure of claim 1, wherein, The control assembly further comprises a posture position sensor electrically connected with the controller, when each of the legs is supported on the ground, each of the legs has a highest point, the highest point is located at one end of the leg away from the ground along the second direction, the posture position sensor is configured to detect a position signal of each of the highest points and transmit each of the position signals to the controller.

6. A photovoltaic installation robot, characterized in that The application comprises: a robot body; the leg leveling structure according to any one of claims 1-5.

7. A method of robot levelling, c h a r a c t e r i s e d in that The method is applied to the leg leveling structure according to any one of claims 1-5, and the method comprises: controlling each of the legs to extend along the second direction; Obtaining the current change signal of each servo driver, and judging whether the current change signal of each servo driver is greater than a first preset value; If the current change signal of the servo driver is greater than the first preset value, controlling the leg driven connected with the servo driver to stop movement; Judging the posture of the robot body; When the robot body is in an inclined state, controlling one or more legs to extend in the second direction, so that the robot body adjusts to a horizontal state; When the robot body is in a horizontal state, obtaining the current change signal of each servo driver, and judging whether the current change signal of each servo driver is less than a second preset value; If the current change signal of the servo driver is less than the second preset value, controlling the leg driven connected with the servo driver to extend in the second direction.

8. The robotic leveling method of claim 7, wherein, If it is determined that the leg has extended to the limit position, an alarm is given.

9. A robotic leveling device, comprising: Comprise: The first control module is used for controlling each leg to extend in the second direction; The first judgment module is used for obtaining the current change signal of each servo driver, and judging whether the current change signal of each servo driver is greater than a first preset value; The second control module is used for controlling the leg driven connected with the servo driver to stop movement if the current change signal of the servo driver is greater than the first preset value; The second judgment module is used for judging the posture of the robot body; The third control module is used for controlling one or more legs to extend in the second direction when the robot body is in an inclined state, so that the robot body adjusts to a horizontal state; The third judgment module is used for obtaining the current change signal of each servo driver when the robot body is in a horizontal state, and judging whether the current change signal of each servo driver is less than a second preset value; The fourth control module is used for controlling the leg driven connected with the servo driver to extend in the second direction if the current change signal of the servo driver is less than the second preset value.

10. A method of robot levelling, characterized by, Applied to the leg leveling structure as claimed in any one of claims 1-5, comprising: After entering the leveling mode, the driving torque of all legs supporting the robot body is regulated, and the first torque value of each leg after regulation is obtained; If the first torque value is greater than or equal to a preset torque value and it is determined that the push rod of each leg has not reached the limit position, the current pose of the robot body is obtained to judge whether the robot body is currently inclined; If it is determined that the robot body is currently inclined, the leg movement amount of the target leg for making the robot body in a balanced state is calculated according to the current pose; The target leg movement is regulated according to the leg movement amount until it is determined that the robot body is in a balanced state.

11. The robotic leveling method of claim 10, wherein, In the process of regulating the target leg movement according to the leg movement amount, further comprising: Using a PID control module to optimize the regulation speed of the target leg movement, specifically comprising: Calculating the current adjustment angle of the target leg for making the robot body in a balanced state based on the current pose; After inputting the current adjustment angle into the PID control module, an optimized adjustment speed is output.

12. The robotic leveling method of claim 10, wherein, The calculation of the leg movement amount of the target leg when the robot body is in a balanced state comprises: constructing a tilt dynamic equation based on the current pose; calculating Euler angles according to the tilt dynamic equation; comparing the Euler angles with preset reference Euler angles to determine a tilt direction; determining a target leg to be adjusted in the tilt direction and calculating a leg movement amount of the target leg.

13. The robotic leveling method of claim 12, wherein, Before the tilt dynamic equation is constructed based on the current pose, the method further comprises: performing mean filtering processing on multiple current poses collected at the same time to obtain pose data for constructing the tilt dynamic equation.

14. The robotic leveling method of claim 10, wherein, The determination process of the push rod of each leg reaching a limit position comprises: monitoring the working state of a limit switch corresponding to the push rod of each leg; if the working state of any limit switch is in an open state, it is determined that the push rod of the corresponding leg currently reaches a limit position.

15. The robotic leveling method of claim 10, wherein, The method further comprises: if the first torque value is less than the preset torque value or the push rod of any leg reaches a limit position, an alarm signal is sent.

16. The robotic leveling method of claim 10, wherein, After it is determined that the robot body is in a balanced state, the method further comprises: obtaining a second torque value of each leg at the current time and determining whether the second torque value is less than the preset torque value; if it is determined that the second torque value is less than the preset torque value, it is determined that the leveling mode needs to be entered again, the number of times of entering the leveling mode is recorded, and if the number of times is greater than a preset number of times, an alarm signal is sent; if it is determined that the second torque value is greater than or equal to the preset torque value, the leveling mode is exited.

17. The robotic leveling method of claim 10, wherein, The method further comprises: monitoring the real-time pose of the robot body; when it is determined that the robot body is currently tilted, the leveling mode of the robot body is entered again.

18. A robotic leveling device, comprising: The method comprises: a torque control module configured to, after entering the leveling mode, control the driving torque of all legs of the robot body and obtain a first torque value of each leg after control; a judgment module configured to, if the first torque value is greater than or equal to a preset torque value and it is determined that the push rod of each leg does not reach a limit position, obtain the current pose of the robot body to determine whether the robot body is currently tilted; a calculation module configured to, if it is determined that the robot body is currently tilted, calculate a leg movement amount of a target leg when the robot body is in a balanced state according to the current pose; a leg control module configured to control the movement of the target leg according to the leg movement amount until it is determined that the robot body is in a balanced state.

19. A photovoltaic installation robot, characterized in that The robot leveling structure comprises a processor, a memory and a leg leveling structure according to any one of claims 1-5, the memory stores a computer program, and the processor is configured to execute the computer program to implement the steps of the robot leveling method according to any one of claims 7-8 and 10-17.

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