CN-121989248-A - Robot control method, photovoltaic cleaning robot and computer readable storage medium

CN121989248ACN 121989248 ACN121989248 ACN 121989248ACN-121989248-A

Abstract

The application discloses a robot control method, a photovoltaic cleaning robot and a computer readable storage medium, wherein the method comprises the steps of acquiring distance information between the robot and a photovoltaic panel when the robot moves above the photovoltaic panel; according to the inclined angle of the inclined photovoltaic panel, controlling the robot to rotate so as to reduce an included angle between a first plane and a second plane, wherein the first plane is a plane where the photovoltaic panel is positioned, and the second plane is a plane where a cleaning module included by the robot is positioned. The method can control the robot to carry out self-adaptive adjustment, so that the included angle between the plane where the cleaning module is positioned and the photovoltaic panel is reduced, unnecessary collision between the robot and the photovoltaic panel in the cleaning process is effectively avoided, and the damage to the photovoltaic panel and the robot is reduced.

Inventors

LIU QIANG
NIU WEI
OuYang Shuijiao
LI XIULING
LIU ZHE
ZHANG JIUSHENG

Assignees

深圳TCL新技术有限公司

Dates

Publication Date: 20260508
Application Date: 20260317

Claims (10)

1. A robot control method, comprising: When the robot moves above the photovoltaic panel, acquiring distance information of the robot and the photovoltaic panel; Determining an inclination angle of inclination of the photovoltaic panel according to the distance information; According to the inclination angle of the inclination of the photovoltaic panel, the robot is controlled to rotate so as to reduce an included angle between a first plane and a second plane, wherein the first plane is a plane where the photovoltaic panel is located, and the second plane is a plane where a cleaning module included by the robot is located.
2. The robot control method according to claim 1, wherein the distance information includes a first distance value and a second distance value, the first distance value is collected by a first distance sensor provided on the robot, the second distance value is collected by a second distance sensor provided on the robot, and the determining the inclination angle of the inclination of the photovoltaic panel based on the distance information includes: Determining a distance difference between the first distance value and the second distance value; And determining the inclination angle of the inclination of the photovoltaic panel according to the distance difference value and a third distance value, wherein the third distance value is used for representing the installation distance between the first distance sensor and the first distance sensor.
3. The robot control method according to claim 2, wherein the determining the inclination angle of the inclination of the photovoltaic panel according to the distance difference value and the third distance value includes: Dividing the distance difference by the third distance value to obtain a distance ratio; And performing arctangent operation on the distance ratio to obtain the inclination angle of the inclination of the photovoltaic panel.
4. The robot control method according to claim 1, wherein the robot comprises an unmanned aerial vehicle module, a connecting bracket, a transmission module and a cleaning module, wherein the unmanned aerial vehicle module and the cleaning module are connected through the connecting bracket, the unmanned aerial vehicle module and the connecting bracket are connected through a connecting shaft hinge, and the transmission module is respectively connected with the unmanned aerial vehicle module and the connecting bracket; The control of the robot rotation according to the inclination angle of the photovoltaic panel inclination includes: Determining transmission parameters of the transmission module according to the inclination angle of the inclination of the photovoltaic panel; And controlling the operation of the transmission module according to the transmission parameters, so that the transmission module drives the connecting support to rotate around the connecting shaft by the inclination angle, and drives the cleaning module to rotate around the connecting shaft by the inclination angle.
5. The method according to claim 4, wherein the driving module includes a screw motor, a screw nut, and a slider, the connection bracket includes a chute, the screw motor is fixed to the unmanned aerial vehicle module, the screw nut and the screw motor are engaged by threads, the screw nut is connected to the slider, the slider is slidable in the chute, the driving parameter includes a number of turns of movement of the screw motor, and determining the driving parameter of the driving module according to an inclination angle of the inclination of the photovoltaic panel includes: acquiring a first association relationship, wherein the first association relationship characterizes the relationship between the moving distance of the screw nut and the inclination angle; determining the moving distance of the screw nut according to the inclination angle and the first association relation; acquiring a second association relationship, wherein the second association relationship represents the relationship between the movement turns of the screw rod motor and the movement distance of the screw rod nut; And determining the number of movement turns of the screw rod motor according to the movement distance of the screw rod nut and the second association relation.
6. The robot control method according to claim 1, wherein after controlling the rotation of the robot according to the inclination angle of the inclination of the photovoltaic panel, further comprising: Acquiring distance information of the robot and the photovoltaic panel; Controlling the robot to land on the photovoltaic panel when the difference value of the distance values in the distance information is smaller than a preset threshold value; And when the distance value in the distance information is larger than or equal to the preset threshold value, returning to execute the step of determining the inclination angle of the inclination of the photovoltaic panel according to the distance information until the difference value of the distance values in the distance information is smaller than the preset threshold value, and controlling the robot to land on the photovoltaic panel.
7. A photovoltaic cleaning robot comprising one or more processors, memory, and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the robot control method of any one of claims 1 to 6.
8. The photovoltaic cleaning robot of claim 7, further comprising an unmanned aerial vehicle module, a connecting bracket, a transmission module and a cleaning module, wherein the unmanned aerial vehicle module and the cleaning module are connected through the connecting bracket, the unmanned aerial vehicle module and the connecting bracket are connected through a connecting shaft hinge, and a distance sensor is arranged at the bottom of the cleaning module.
9. The photovoltaic cleaning robot of claim 8, wherein the transmission module comprises a lead screw motor, a lead screw nut, and a slider, the connection bracket comprises a chute, the lead screw motor is fixed to the unmanned aerial vehicle module, the lead screw nut and the lead screw motor are engaged by threads, the lead screw nut is connected to the slider, and the slider is slidable in the chute.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program is loaded by a processor to perform the steps in the robot control method of any of claims 1 to 6.

Description

Robot control method, photovoltaic cleaning robot and computer readable storage medium Technical Field The application relates to the technical field of robots, in particular to a robot control method, a photovoltaic cleaning robot and a computer readable storage medium. Background With the wide application of photovoltaic power generation technology, photovoltaic panels installed on roofs are increasing. If more dirt accumulates on the surface of the photovoltaic panel, the power generation efficiency of the photovoltaic panel may be reduced, and even the long-term service life of the photovoltaic panel may be affected. Generally, an unmanned aerial vehicle is adopted to send the cleaning robot to a roof for cleaning the photovoltaic panel. When put in, the robot generally can keep a horizontal state, but the photovoltaic board is usually installed with a certain angle, when leading to the robot to fall on the photovoltaic board, can form an angle difference between the plane of cleaning module and the inclined plane of photovoltaic board, the collision takes place with the photovoltaic board when making the robot descend, produces great impact force, and even probably damage photovoltaic board or cleaning robot when serious causes unnecessary maintenance and replacement cost. Disclosure of Invention The embodiment of the application provides a robot control method, a photovoltaic cleaning robot and a computer readable storage medium, which can control the robot to carry out self-adaptive adjustment, so that the included angle between a plane where a cleaning module is positioned and a photovoltaic panel is reduced, the robot is effectively prevented from being unnecessarily impacted with the photovoltaic panel in the cleaning process, and the damage to a photovoltaic panel and the robot is reduced. The technical scheme adopted by the invention for solving the problems is as follows: In one aspect, the present application provides a robot control method, including: when the robot moves above the photovoltaic panel, acquiring distance information of the robot and the photovoltaic panel; Determining an inclination angle of inclination of the photovoltaic panel according to the distance information; According to the inclination angle of the inclination of the photovoltaic panel, the robot is controlled to rotate so as to reduce the included angle between a first plane and a second plane, wherein the first plane is the plane where the photovoltaic panel is located, and the second plane is the plane where a cleaning module included by the robot is located. In some embodiments of the present application, the distance information includes a first distance value collected by a first distance sensor provided on the robot and a second distance value collected by a second distance sensor provided on the robot, and determining an inclination angle of the inclination of the photovoltaic panel according to the distance information includes: determining a distance difference between the first distance value and the second distance value; and determining the inclination angle of the inclination of the photovoltaic panel according to the distance difference value and a third distance value, wherein the third distance value is used for representing the installation distance between the first distance sensor and the first distance sensor. In some embodiments of the application, determining an inclination angle of the inclination of the photovoltaic panel based on the distance difference and the third distance value comprises: dividing the distance difference value by a third distance value to obtain a distance ratio; and performing arctangent operation on the distance ratio to obtain the inclination angle of the inclination of the photovoltaic panel. In some embodiments of the application, the robot comprises an unmanned aerial vehicle module, a connecting bracket, a transmission module and a cleaning module, wherein the unmanned aerial vehicle module and the cleaning module are connected through the connecting bracket, the unmanned aerial vehicle module and the connecting bracket are connected through a connecting shaft hinge, and the transmission module is respectively connected with the unmanned aerial vehicle module and the connecting bracket; According to the inclination of photovoltaic panel slope, control robot rotates, includes: determining transmission parameters of the transmission module according to the inclination angle of the inclination of the photovoltaic panel; The operation of the transmission module is controlled according to the transmission parameters, so that the transmission module drives the connecting support to rotate around the connecting shaft by an inclination angle, and the cleaning module is driven to rotate around the connecting shaft by the connecting support by the inclination angle. In some embodiments of the application, the transmission module comprises a screw motor, a screw nut and a sl