Determining method and control method for straight running of robot on slope plane
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Solution Overview
Problem
Conventional cleaning robots are ineffective on sloping solar panels due to insufficient power, difficulty in maintaining a straight path, risk of falling, inefficient coverage, and challenges in recharging and monitoring, especially on large, high-mounted panels.
Innovation Solution
A method and system for a robot to determine and correct its movement on a sloping plane using a three-dimensional coordinate system, gravity acceleration vectors, and magnetic sensors to ensure straight path navigation, combined with a power system that includes skid-proof tracks to prevent falling and a control system for optimized path navigation and deflection correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the conventional cleaning robot is applied to sloping solar panels, then the robot can perform cleaning function, but the robot will slide and fall down from the panel due to insufficient friction force
Solution Approach 1:
The patent changes the physical parameters of the robot by adding skid-proof tracks instead of conventional wheels, increasing the friction coefficient between the robot and the panel surface. This parameter change enables the robot to maintain sufficient friction force on sloping surfaces, preventing sliding and falling while retaining cleaning functionality.
2Area of stationary object
If the conventional cleaning robot moves on sloping plane, then the robot can cover cleaning area, but the robot cannot maintain straight path due to gravity and dust interference
Solution Approach 1:
The patent implements a feedback control mechanism using a three-dimensional coordinate system and gravity acceleration vector detection. The control system continuously monitors the robot's position and orientation, compares it with the predetermined path, and automatically corrects deviations caused by gravity or dust interference, ensuring accurate straight-line movement across the entire panel area.
Solution Approach 2:
The patent replaces traditional mechanical path-following mechanisms with an electronic control system that uses sensors to detect the robot's orientation relative to gravity and automatically adjusts the driving motors. This substitution enables precise path correction without complex mechanical guidance structures.
3Extent of automation
If the cleaning robot uses automatic obstacle avoidance function, then the robot can navigate autonomously, but the robot can only move on single path and cannot cover entire panel area
Solution Approach 1:
The patent inverts the conventional obstacle avoidance approach by eliminating the need for obstacles on the panel surface. Instead of having the robot detect and avoid obstacles, the system ensures the panel is clear of obstacles and uses gravity-based straight-path control to enable the robot to cover the entire panel area through systematic back-and-forth movement patterns.
4Productivity
If the solar panels are set in high places using mounting brackets to improve space utilization, then the space utilization is improved, but the cleaning and charging operation becomes difficult and risky
Solution Approach 1:
The patent enables the cleaning robot to service itself by implementing automatic recharging functionality. The robot autonomously returns to charging stations positioned on the ground, eliminating the need for manual retrieval and battery replacement. This self-service capability makes high-mounted panel cleaning operationally feasible without increasing human risk or labor complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the robot to maintain a straight path and efficiently cover the entire solar panel with high accuracy and safety, reducing labor costs and improving cleaning efficiency by ensuring continuous operation and real-time monitoring.
Implementation Method 1
defining standard sub vectors of gravity acceleration g along three directions of the three-dimensional coordinate system as gxs0, gys0 and gzs0
Implementation Method 2
The data acquisition unit includes at least one magnetic sensor configured to acquire moving direction data
Data Source
AI summary
An objective of the present invention is to provide a method for determining and controlling a robot to move straightly on a sloping plane to solve a technical issue that a deviation of a conventional robot from a predetermined straight path is difficult to detect when the robot moves on a sloping plane and cannot be corrected, and moving on the straight path is difficult to guarantee.