CN108873891B - Robot control method, robot and storage medium - Google Patents
Robot control method, robot and storage medium Download PDFInfo
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- CN108873891B CN108873891B CN201810517408.4A CN201810517408A CN108873891B CN 108873891 B CN108873891 B CN 108873891B CN 201810517408 A CN201810517408 A CN 201810517408A CN 108873891 B CN108873891 B CN 108873891B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The application relates to a control method of a robot, the robot and a storage medium, and is applied to the field of photovoltaic device cleaning. The control method comprises the following steps: after the robot runs, acquiring a plurality of first detection data corresponding to the plurality of sensing devices, and judging whether the plurality of first detection data are all equal to a preset first threshold value; if not, acquiring a first distance of the robot in operation, and judging whether the first distance is greater than or equal to a preset first distance threshold value; if the first distance is judged to be greater than or equal to the first distance threshold value, setting the linear speed and the angular speed of the robot according to a preset first rule; and if the first distance is smaller than the first distance threshold value, setting the linear speed and the angular speed of the robot according to a preset second rule. The robot or the equipment device walking on the photovoltaic device can be reduced, the risk of falling when the robot or the equipment device walks to the edge of the photovoltaic device is reduced, and the capability of crossing gaps is given to the robot.
Description
Technical Field
The application relates to the technical field of solar photovoltaic device cleaning, in particular to a robot control method, a robot and a storage medium.
Background
With the rapid development of new energy technologies and industries thereof, solar photovoltaic power generation has been widely applied, such as large-scale ground photovoltaic power stations, roof-distributed photovoltaic power stations, and the like. When the solar photovoltaic device is applied to power generation, the environment is complex and various, and the surface of the solar photovoltaic device is easily shielded by dust, sundries and the like, so that the power generation efficiency and the service life of the photovoltaic device are seriously influenced. Therefore, the surface of the solar photovoltaic device needs to be cleaned, detected and other operation and maintenance activities frequently.
The operation and maintenance includes all operations and maintenance activities for the photovoltaic device or the photovoltaic power station, such as cleaning, detecting operation conditions, detecting device hot spots and the like. An operation and maintenance mode mainly adopted at present is a photovoltaic operation and maintenance robot or an equipment device, and the operation and maintenance robot or the equipment device operates on a solar photovoltaic device in an automatic or manual operation mode and the like, so that the surface of the solar photovoltaic device is cleaned, detected and the like.
However, when the robot travels to the edge of the photovoltaic device, if the robot cannot decelerate, stop, or change the direction of movement in time, the robot may easily fall off the photovoltaic device, causing an accident. Therefore, it is particularly important to assist or protect the robot or equipment device moving on the photovoltaic device against falling off.
Disclosure of Invention
The application aims to provide a control method of a robot, the robot and a storage medium, which can continuously run on the surface of a photovoltaic device and reduce the risk of falling of the robot.
In order to solve the technical problem, the application adopts a technical scheme that:
a control method of a robot that runs on a surface of a photovoltaic device, the robot being provided with a plurality of sensing devices, the control method comprising:
after the robot runs, acquiring a plurality of first detection data corresponding to the plurality of sensing devices, and judging whether all the first detection data are equal to a preset first threshold value;
if not, acquiring a first distance for the robot to run, and judging whether the first distance is greater than or equal to a preset first distance threshold value;
if the first distance is judged to be greater than or equal to the first distance threshold, setting the linear speed and the angular speed of the robot according to a preset first rule;
and if the first distance is smaller than the first distance threshold value, setting the linear speed and the angular speed of the robot according to a preset second rule.
In some embodiments, before the step of acquiring a plurality of first detection data corresponding to a plurality of the sensing devices after the robot operates, the control method further includes:
placing a robot on the surface of the photovoltaic device, acquiring a plurality of second detection data corresponding to the plurality of sensing devices, and judging whether the plurality of second detection data are all equal to the first threshold value;
and if the second detection data are all equal to the first threshold value, controlling the robot to operate.
In some embodiments, after the step of determining whether all of the plurality of second detection data is equal to the preset first threshold, the control method further includes:
and prompting to replace the robot if at least one second detection data in the plurality of second detection data is not equal to the first threshold, and setting the linear velocity to be 0 and the angular velocity to be 0.
In some embodiments, after the step of determining whether all of the plurality of first detection data is equal to the first threshold value, the control method further includes:
and if the first detection data are all equal to the first threshold value, returning to the step of controlling the robot to operate.
In some embodiments, the robot is provided with a first sensing device, a second sensing device, a third sensing device and a fourth sensing device, the first sensing device and the third sensing device are arranged on the same side of the robot, the first sensing device and the second sensing device are arranged at the same end of the robot, and four first detection data respectively corresponding to the first sensing device, the second sensing device, the third sensing device and the fourth sensing device are S1, S2, S3 and S4.
In some embodiments, the setting of the linear and angular velocities of the robot according to the preset first rule includes:
when S1 is 1 or S2 is 1, and S3 is 0, and S4 is 0, setting the linear velocity to be less than 0;
when S3 is 1 or S4 is 1, and S1 is 0, and S2 is 0, setting the linear velocity to be greater than 0;
setting the linear velocity to 0 when S1-1, S3-1, S2-0, S4-0 or S1-0, S3-0, S2-1, S4-1;
when S1 is 0, S2 is 1, S3 is 1, S4 is 1, or S1 is 1, S2 is 1, S3 is 1, and S4 is 0, setting the angular velocity to be greater than or equal to 0, and setting the linear velocity to be 0;
when S1 is 1, S2 is 0, S3 is 1, S4 is 1, S1 is 1, S2 is 1, S3 is 0, and S4 is 1, the angular velocity is set to be less than or equal to 0, and the linear velocity is set to be 0;
when S1 is equal to 1, S2 is equal to 1, S3 is equal to 1, and S4 is equal to 1, the angular velocity is set equal to 0, and the linear velocity is set equal to 0.
In some embodiments, the setting of the linear velocity and the angular velocity of the robot according to the preset second rule includes:
when S1 is equal to 1 or S2 is equal to 1, and S3 is equal to 0, and S4 is equal to 0, if the current linear velocity of the robot is greater than 0, setting the linear velocity to be less than a preset velocity threshold;
when S3 is equal to 1 or S4 is equal to 1, and S1 is equal to 0, and S2 is equal to 0, if the current linear velocity of the robot is less than 0, setting the absolute value of the linear velocity to be less than the velocity threshold;
setting the linear velocity to 0 when S1-1, S3-1, S2-0, S4-0 or S1-0, S3-0, S2-1, S4-1;
when S1 is 0, S2 is 1, S3 is 1, S4 is 1, or S1 is 1, S2 is 1, S3 is 1, and S4 is 0, setting the angular velocity to be greater than or equal to 0, and setting the linear velocity to be 0;
when S1 is 1, S2 is 0, S3 is 1, S4 is 1, S1 is 1, S2 is 1, S3 is 0, and S4 is 1, the angular velocity is set to be less than or equal to 0, and the linear velocity is set to be 0;
when S1 is equal to 1, S2 is equal to 1, S3 is equal to 1, and S4 is equal to 1, the angular velocity is set equal to 0, and the linear velocity is set equal to 0.
In some embodiments, after the step of setting the linear and angular velocities of the robot, the control method further comprises: returning to the step of acquiring a plurality of first detection data corresponding to the plurality of sensing devices after the robot operates.
In order to solve the above technical problem, another solution proposed by the present application is:
a robot that operates on a surface of a photovoltaic device, the robot comprising a processor, a plurality of sensing devices, and
the cleaning control device is connected with the processor respectively; wherein the cleaning control device is configured to:
after the robot runs, acquiring a plurality of first detection data corresponding to the plurality of sensing devices, and judging whether all the first detection data are equal to the first threshold value;
if not, acquiring a first distance for the robot to run, and judging whether the first distance is greater than or equal to a preset first distance threshold value;
if the first distance is judged to be greater than or equal to the first distance threshold, setting the linear speed and the angular speed of the robot according to a preset first rule;
and if the first distance is smaller than the first distance threshold value, setting the linear speed and the angular speed of the robot according to a preset second rule.
In order to solve the above technical problem, another solution proposed by the present application is:
a readable storage medium having stored therein a computer program which, when run, controls a robot on which the storage medium is located to perform the control method as described above.
The beneficial effect of this application is: different from the prior art, the robot is provided with the sensing device, the sensing device can detect whether the robot is separated when the robot walks to the edge of the photovoltaic device, obtains a first distance of the robot in operation, and judges whether the first distance is greater than or equal to a preset first distance threshold value; if the first distance is judged to be greater than or equal to the first distance threshold, setting the linear speed and the angular speed of the robot according to a preset first rule; if the first distance is smaller than the first distance threshold value, setting the linear speed and the angular speed of the robot according to a preset second rule; therefore, the robot control method and device can control the motion parameters of the robot according to the first distance of the robot in operation so as to reduce the risk of falling when the robot operates to the edge of the photovoltaic device.
Drawings
FIG. 1 is a schematic flow chart diagram of a control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of the construction of the robot of FIG. 1;
FIG. 3 is a schematic view of the sensing arrangement of the robot of FIG. 2 in a first instance of exceeding the boundary of the photovoltaic device;
FIG. 4 is a schematic diagram of a second case of the sensing device of the robot of FIG. 2 beyond the boundary of the photovoltaic device;
FIG. 5 is a schematic diagram of a third case of the sensing device of the robot of FIG. 2 exceeding the boundary of the photovoltaic device;
FIG. 6 is a schematic diagram of a fourth scenario in which the sensing device of the robot of FIG. 2 is beyond the boundary of the photovoltaic device;
FIG. 7 is a schematic flow chart diagram of a control method according to another embodiment of the present application;
fig. 8 is a schematic structural diagram of a robot according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely below, and it should be understood that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Moreover, it is to be understood that not only the principles, aspects and embodiments of the present application, but also all of the detailed description of the specific embodiments includes structural and functional equivalents of the described items. Further, it should be understood that the equivalents include all elements which are claimed to be applied in the future and have the same function regardless of the structure thereof except for the currently known equivalents.
For example, it should be understood that the block diagrams of the present specification represent a conceptual point of view of illustrative circuitry embodying the principles of the present application. Similarly, all flowcharts, state transition diagrams, pseudo codes and the like can be actually embodied by a computer-readable storage medium, and whether or not a computer or a processor is explicitly illustrated, can represent various programs executed by the computer or the processor.
The functions of the various elements shown including functional blocks represented by processors or similar concepts may be provided through dedicated hardware, hardware having the capability of executing software. Where provided by a processor, the functions may be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which may be shared.
It should be construed that when using terms like processor, control, or concept hint thereto, hardware having the capability to execute software must not be referenced exclusively, implicitly including Digital Signal Processor (DSP) hardware for storing Digital Signal Processor (DSP), ROM, RAM, and non-volatile memory for storing software. Other hardware commonly known in the art may also be included.
The elements in the claims hereof that perform the function in the detailed description include all methods that perform the function in software in all forms, such as in firmware/microcode or combinations of circuit elements that perform the function, coupled with appropriate circuitry for executing the software in order to perform the function. In the present application defined by the scope of the claims, the means for providing the functions described above can be understood from the present description by combining the functions provided by the various means as set forth in the claims.
The objects, features and advantages will be apparent from the accompanying drawings and from the detailed description that follows. Therefore, those skilled in the art to which the present application pertains can easily implement the technical idea of the present application. In describing the present application, when it is determined that a detailed description of a related known technology of the present application will make the gist of the present application unclear, a detailed description thereof will be omitted.
At present, the cleaning and maintenance of the surface of a photovoltaic device mainly depends on large-scale cleaning equipment to be arranged on the surface of the whole photovoltaic device in a spanning mode, or a special cleaning vehicle is driven manually to clamp the large-scale cleaning equipment for cleaning. Photovoltaic power stations are generally located in relatively harsh natural environments, for example, desert power stations also face very serious water shortage problems. The number of solar panels of a photovoltaic power station is as high as ten thousand or even hundreds of thousands of solar panels, and even if sufficient water sources, equipment and manpower are available, one-time comprehensive manual cleaning is required. The workload is high and is not similar to the imagination of the ordinary people, so that the traditional manual cleaning mode is dangerous, low in efficiency and high in cost.
With the rapid development of mobile robot technology under the promotion of artificial intelligence, computer technology and sensing device technology, the mobile robot technology is widely applied to the fields of logistics, detection, service and the like due to the mobility and the autonomous capability. However, most of the mobile robots directly run on the ground, and at most, only the recognition limit is needed, so that the problem of falling from high altitude cannot occur. And if applied directly to the photovoltaic device surface, can result in a situation where the robot falls off the photovoltaic device surface.
In view of this, through long-term research, the applicant of the present application has proposed a robot control method, which can determine whether a robot is located at an edge of a photovoltaic device, thereby controlling a motion state of the robot and reducing the occurrence of a robot drop condition.
Specifically, please refer to fig. 1-2, fig. 1 is a schematic flowchart of a control method according to an embodiment of the present application, and fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present application. The control method of the present application is applied to a robot 100, the robot 100 includes a main body 101, a traveling part 102, and a cleaning part 103, the traveling part 102 is disposed on both sides of the main body 101, the cleaning part 103 is disposed at one end of the main body 101 that advances along the traveling part 102, and the traveling part 102 may be a sprocket.
In this embodiment, the robot 100 may be used to clean, dust collect, wipe, etc. an area to be cleaned of a photovoltaic device, and may also detect a surface of the photovoltaic device. For example, the robot 100 may sweep and absorb the shelter on the surface of the photovoltaic device into its own storage device by means of brushing and vacuum, thereby completing the cleaning function; or the robot 100 is provided with a plurality of detection devices, which may be photoelectric sensing devices, and may be used to detect abnormal conditions such as defects and damages on the surface of the photovoltaic device.
Further, the robot 100 in the present embodiment further includes a plurality of sensing devices 104, and since the robot 100 in the present embodiment has a rectangular shape, the plurality of sensing devices 104 are disposed at four corners of the robot 100. Specifically, the sensing device 104 includes a first sensing device 1041, a second sensing device 1042, a third sensing device 1043, and a fourth sensing device 1044, where the first sensing device 1041 and the third sensing device 1043 are disposed on one side of the same walking part 102, the first sensing device 1041 and the second sensing device 1042 are disposed on one end of the main body 101 of the robot 100, which is provided with the cleaning part 103, and the fourth sensing device 1044 and the third sensing device are disposed on one end far from the cleaning part 103.
In this embodiment, the sensing device 104 is used to detect the relative position of the sensing device 104 and the photovoltaic device. The detection results of the first sensing device 1041, the second sensing device 1042, the third sensing device 1043 and the fourth sensing device 1044 are respectively represented by S1, S2, S3 and S4. In this embodiment, it is set that the detection result is 1 if the detection result is beyond the boundary of the photovoltaic device, and the detection result is 0 if the detection result is not beyond the boundary of the photovoltaic device. The sensing means of the sensing device 104 may be a contact type or a non-contact type.
Specifically, the sensing device 104 can detect the position or distance of the sensing device 104 relative to the photovoltaic device using a non-contact detection method, such as ultrasonic waves, light, a magnetic field, and the like. Alternatively, the sensing device 104 is moved on the surface of the photovoltaic device by the robot 100, and the sensing device 104 may be a laser radar which can detect the position, speed, and other characteristic quantities of the target by emitting a laser beam. Specifically, the sensing device 104 emits a detection signal (laser beam) toward the surface of the photovoltaic device, and then compares the received signal reflected from the surface of the photovoltaic device with the emission signal, and after appropriate processing, information about the target, such as the distance between the sensing device 104 and the surface of the photovoltaic device, can be obtained. When the robot 100 is operating on the photovoltaic device surface, the sensing device 104 records the normal distance from the photovoltaic device surface. When the real-time recorded distance is larger than the normal distance, the sensing device is indicated to be beyond the surface of the photovoltaic device.
The sensing device 104 may also be implemented using contact-based sensing, such as by sensing the angle of deflection of the tentacle to detect the position or distance relative to the photovoltaic device. Alternatively, the sensing device 104 may be a whisker sensing device, the whisker is disposed on the sensing device 104, and the length of the whisker is greater than the perpendicular distance from the sensing device 104 to the photovoltaic device, so that, as long as the sensing device 104 is still on the surface of the photovoltaic device, the whisker has an angle with the vertical direction, and when the angle becomes 0 °, the whisker sensing device can determine that the sensing device 104 has exceeded the surface of the photovoltaic device.
Further, in the present embodiment, the robot 100 has a center of gravity O, a linear velocity V that drives the cleaning part 103 to move forward, and an angular velocity ω that rotates around the center of gravity O, wherein the linear velocity V and the angular velocity ω are vector parameters, that is, values with directions. In the present embodiment, the linear velocity V is set to be greater than 0 when the robot 100 moves forward along the cleaning portion 103; the linear velocity V is less than 0 when moving backward along the cleaning portion 103; when the robot 100 rotates counterclockwise around the point O, the angular velocity ω is greater than 0; when rotating in the clockwise direction, the angular velocity ω is less than 0.
In the present embodiment, the area of the robot 100 is divided. The method specifically comprises the following steps: after a circle is made by taking the center of gravity O as a point, the distance between the two walking parts 102 is 2R, R is taken as a radius and O is taken as a center of the circle, two first tangent lines a1 and a2 of the circle are made along the direction of the walking part 102, and two other second tangent lines b1 and b2 of the circle perpendicular to the two first tangent lines a1 and a2 are made. Four tangents to the circle divide the robot 100 into region a1, region a2, region A3, region a4, region B1, region B2, region B3, and region B4. The first sensing device 1041, the second sensing device 1042, the third sensing device 1043 and the fourth sensing device 1044 are respectively disposed in the area a1, the area a2, the area A3 and the area a 4.
It should be noted that the present embodiment is not limited to only 4 sensing devices 104, but each of the regions a1, a2, A3, and a4 must ensure at least 1 sensing device 104. This ensures that when the robot 100 moves from the middle area of the pv device to the edge of the pv device, and any two adjacent sensing devices 104 detect that the robot has separated from the edge of the pv device, the robot 100 can still move safely in a state where V is 0 and ω is not 0, that is, it is safe to turn in place at this time.
Meanwhile, it should also be appreciated that, since the robot 100 in the embodiment is rectangular, the above setting is only performed, and if the robot 100 is in other shapes, such as circular, the arrangement of the sensing device 104 and the division of the safety area may also be adjusted according to practical situations, but all of them should fall within the protection scope of the present application.
The control method in the present embodiment is executed by the robot 100 shown in fig. 2. It should be noted that the method provided by the embodiments of the present application is not limited by the specific embodiment sequence shown in fig. 1 and described below.
Referring to fig. 1, the specific flow of the control method in this embodiment is as follows:
s210: after the robot 100 operates, a plurality of first detection data corresponding to the plurality of sensing devices 104 are acquired, and whether all of the plurality of first detection data are equal to a preset first threshold value is determined.
Specifically, after the photovoltaic device runs smoothly, the robot 100 cleans or detects the surface of the photovoltaic device, and at this time, the sensing devices 104 located at various positions (i.e., a1, a2, A3, a4 in fig. 2) of the robot 100 determine the relative positions of the robot 100 and the photovoltaic device in real time, so as to obtain first detection data S1, S2, S3, and S4.
The preset first threshold may be 0 in this embodiment, for example, when the first detection data S1 is 0, the first detection data S1 is equal to the first threshold, that is, the first sensing device 1041 in the robot 100 is located inside the photovoltaic device and does not exceed the edge of the photovoltaic device.
S220: if not, acquiring a first distance of the robot 100 in operation, and judging whether the first distance is greater than or equal to a preset first distance threshold.
Since it is determined that the first detection data are not all equal to the preset first threshold, that is, the robot has at least one sensing device 104 located in the photovoltaic device.
In particular, the first distance threshold may refer to the distance of one of the sensing devices from the tangent line to which it is closest. In the above, the setting process of the first tangent and the second tangent has been described, and is not repeated herein.
Taking the first sensing device 1041 as an example, the two tangents closest to the first sensing device 1041 are the first tangent a1 and the second tangent b1, respectively, and the first distance threshold is the distance D1 between the first sensing device 104 and the first tangent a1 and the distance D1 between the first sensing device 104 and the second tangent b 1. The first sensing device 1041 is initially operated on the surface of the photovoltaic device, and the first detection data S1 is always 0.
However, when the first sensing device 1041 exceeds the boundary of the photovoltaic device, the first detection data S1 corresponding to the first sensing device 1041 changes from 0 to 1, that is, the plurality of first detection data are not all equal to the preset first threshold. At this time, recording of the travel distance of the robot 100 is started, and the travel distance after the first sensing device 1041 exceeds the boundary of the photovoltaic device is set as the first distance.
If the first detection data corresponding to the first sensing device 1041 changes from 1 to 0 in the case that the first distance is smaller than the first distance threshold, the recording of the first distance is stopped. This indicates that the gap length at the photovoltaic device boundary is less than the first distance threshold, which gives the robot 100 the ability to cross a safety gap, allowing the robot 100 to continue to operate across multiple different photovoltaic device surfaces.
It is noted that the first distance threshold D1 is in the positive direction of V, and the first distance threshold D1 is perpendicular to the positive direction of V, and D1 is provided to prevent the robot 100 from exceeding the boundary of the photovoltaic device in the forward direction, so that the cleaning part 103 falls off the surface of the photovoltaic device; the purpose of d1 is to prevent the walking part 102 from exceeding the boundary of the photovoltaic device when the robot 100 rotates at an angular velocity, so that the walking part 102 falls off the surface of the photovoltaic device. And D1 and D1 are independent of each other, and can be installed and adjusted according to actual conditions.
Meanwhile, it should also be appreciated that, in this embodiment, only the first sensing device 1041 is away from the other sensing devices 104, which can also implement the above steps, and can prevent the robot 100 from falling in multiple directions.
S230: and if the first distance is judged to be greater than or equal to the first distance threshold, setting the linear speed and the angular speed of the robot according to a preset first rule.
In particular, when the recorded first distance is greater than or equal to the first distance threshold, that is to say the corresponding sensing device has exceeded the boundary of the photovoltaic device and exceeded the safety distance. If the center of gravity of the robot 100 is shifted as the robot 100 continues to travel forward, a drop may occur.
In view of the above, it is necessary to stop or reverse the robot 100 immediately, that is, the linear velocity V of the robot 100 should be set to 0 or less, and in particular, the setting should be performed according to the excess number of the sensing devices 104.
Specifically, according to the above setting, the detection results of the first sensing device 1041, the second sensing device 1042, the third sensing device 1043 and the fourth sensing device 1044 are respectively represented by S1, S2, S3 and S4. The setting of the linear velocity and the angular velocity of the robot 100 according to the preset first rule specifically includes the following cases:
referring to fig. 3, fig. 3 is a schematic structural diagram of a first case where the sensing device of the robot in fig. 2 exceeds the boundary of the photovoltaic device. When S1 is 1 or S2 is 1, and S3 is 0 and S4 is 0, there are three combinations, S1 is 1, S2 is 0, S3 is 0 and S4 is 0; s1 ═ 1, S2 ═ 1, S3 ═ 0, S4 ═ 0; s1, S2, S3, S4 and the linear velocity V is set to 0 or less, 0 or less. In these three cases, at least one of the sensors located in the direction of the linear velocity V exceeds the boundary of the photovoltaic device 600. The positional relationship shown in fig. 3 is exemplified by S1 being 0, S2 being 1, S3 being 0, S4 being 0, the second sensing device 1042 exceeding the boundary of the photovoltaic device 600, and the second sensing device 1042 being located in the direction of the linear velocity V of the robot. Since the first distance of the robot 100 is greater than or equal to the first distance threshold, the linear velocity V of the robot 100 is set to be less than 0, and the robot 100 retreats to make the robot 100 retreat to the inner region of the photovoltaic device 600; and the angular velocity ω of the robot 100 need not be set.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a second situation in which the sensing device of the robot in fig. 2 exceeds the boundary of the photovoltaic device. When S3 is 1 or S4 is 1, and S1 is 0 and S2 is 0, there are three combinations, S1 is 0, S2 is 0, S3 is 1 and S4 is 0; s1 ═ 0, S2 ═ 0, S3 ═ 0, S4 ═ 1; s1 is 0, S2 is 0, S3 is 1, S4 is 1, and the linear velocity V is set to be greater than 0. In these three cases, at least one of the sensors located opposite the linear velocity V exceeds the boundary of the photovoltaic device 600. The positional relationship shown in fig. 4 is exemplified by S1 being 0, S2 being 0, S3 being 1, S4 being 0, i.e. the third sensing means 1043 is beyond the boundary of the photovoltaic device 600 and the third sensing means 1043 is located in the opposite direction of the linear velocity V of the robot. Since the first distance of the robot 100 is greater than or equal to the first distance threshold value, the linear velocity V of the robot 100 is set to be greater than 0, and the robot 100 advances to enter the robot 100 into the area inside the photovoltaic device 600; and the angular velocity ω of the robot 100 need not be set.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a third situation where the sensing device of the robot 100 in fig. 2 exceeds the boundary of the photovoltaic device. The linear velocity is set to 0 when S1 is 1, S3 is 1, S2 is 0, S4 is 0 or S1 is 0, S3 is 0, S2 is 1, and S4 is 1. In both cases, both sensors located on at least one of both sides of the robot 100 in the linear velocity V direction exceed the boundary of the photovoltaic device 600. That is, the first sensing device 1041 and the third sensing device 1043 or the second sensing device 1042 and the fourth sensing device 1044 extend beyond the boundary of the photovoltaic device 600, and the first sensing device 1041 and the third sensing device 1043 or the second sensing device 1042 and the fourth sensing device 1044 are located on the same side of the robot 100. Since the first distance of the robot 100 is greater than or equal to the first distance threshold, the linear velocity V of the robot 100 is set to be equal to 0, and the robot 100 stops moving in the direction of the linear velocity V, so as to avoid the robot 100 from further entering the area outside the photovoltaic device 600, thereby sending a drop condition; and the angular velocity ω of the robot 100 need not be set.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a fourth situation where the sensing device of the robot 100 in fig. 2 exceeds the boundary of the photovoltaic device. When S1 is 1, S2 is 1, S3 is 1, and S4 is 0, the angular velocity ω is set to 0 or more, and the linear velocity is set to 0. At this time, the three sensing devices 104 (the first sensing device 1041, the second sensing device 1042, and the third sensing device 1043) of the robot 100 exceed the boundary of the photovoltaic device 600, and what has not yet exceeded the boundary of the photovoltaic device 600 is the fourth sensing device 1044. Since the first distance is greater than or equal to the first distance threshold, on the one hand, the robot 100 should wait 0 in the linear velocity V direction, so that the robot 100 stops running in the V direction; on the other hand, considering that only the fourth sensing device 104 is located in the inner region of the photovoltaic device 600, and the photovoltaic device 600 is rectangular, the angular velocity ω is set to be only clockwise rotation or 0 directly. This is because, if the robot 100 rotates counterclockwise at this time, there is a high possibility that the center of gravity shifts to the outside, causing a situation in which the robot 100 falls off the surface of the photovoltaic device 600; and if the robot rotates clockwise, the center of gravity of the robot 100 can be rotated to the inner area of the photovoltaic device 600, so that the robot can be prevented from falling. And similar processing is done for other cases.
When S1 is 0, S2 is 1, S3 is 1, and S4 is 1, at this time, the three sensor devices 104 (the second sensor device 1042, the third sensor device 1043, and the fourth sensor device 1044) of the robot 100 exceed the boundary of the photovoltaic device 600, and what has not yet exceeded the boundary of the photovoltaic device 600 is the first sensor device 1041. The robot 100 is located at the same diagonal line of the robot 100 similarly to the above-described position, and therefore the direction of the angular velocity ω is the same as in the previous case, the angular velocity ω is set to 0 or more, and the linear velocity is set to 0.
When S1 is 1, S2 is 0, S3 is 1, S4 is 1, S1 is 1, S2 is 1, S3 is 0, and S4 is 1, at this time, the three sensing devices 104 (the first sensing device 1041, the third sensing device 1043, the fourth sensing device 1044, or the first sensing device 1041, the second sensing device 1042, and the fourth sensing device 1044) of the robot 100 exceed the boundary of the photovoltaic device 600, and the second sensing device 1042 or the third sensing device 1043 does not exceed the boundary of the photovoltaic device 600. Similarly, in both cases, the two sensors located in the inner area of the photovoltaic device 600 are located on the other diagonal of the photovoltaic device 600, and according to the above description, only the first sensor device 1041 or the fourth sensor device 1044 is located in the inner area of the photovoltaic device 600, at this time, the robot 100 should rotate in the counterclockwise direction, that is, the angular velocity ω is set to be less than or equal to 0, and the linear velocity is set to be 0, so as to avoid the gravity center of the robot 100 from exceeding the inner area of the photovoltaic device 600.
And when S1 is 1, S2 is 1, S3 is 1, and S4 is 1, it indicates that the robot 100 has completely separated from the surface of the photovoltaic device 600, so to set the angular velocity equal to 0, the linear velocity is set to 0.
S240: and if the first distance is smaller than the first distance threshold value, setting the linear speed and the angular speed of the robot according to a preset second rule.
Specifically, when the recorded first distance is less than the first distance threshold, that is, when the sensing device 104 has exceeded the boundary of the photovoltaic device 600, the safety distance is not exceeded. The situation is safe at this point, because the center of gravity of the robot 100 is still located at the surface of the photovoltaic device 600 at this point, and therefore the robot 100 can also advance further at this point within the first distance threshold. The specific second rule is as follows:
when S1 is 1 or S2 is 1, and S3 is 0 and S4 is 0, there are three combinations, S1 is 1, S2 is 0, S3 is 0 and S4 is 0; s1 ═ 1, S2 ═ 1, S3 ═ 0, S4 ═ 0; s1 ═ 0, S2 ═ 1, S3 ═ 0, and S4 ═ 0. Similarly, referring to fig. 3, for example, S1 is equal to 0, S2 is equal to 1, S3 is equal to 0, and S4 is equal to 0, the second sensing device 1042 exceeds the boundary of the photovoltaic device 600, and the second sensing device 1042 is located in the direction of the linear velocity V of the robot. However, since the first distance in the robot 100 (i.e., the distance from the second sensing device 1042 to the first tangent line a 1) is smaller than the first distance threshold, the robot 100 may continue to move forward until the first distance is greater than or equal to the preset first distance threshold. However, when the robot 100 continues to move in the V direction (i.e. V is greater than 0), the value of the linear velocity V needs to be further limited, and V should not exceed the preset velocity threshold, and the angular velocity ω is not limited.
In the present embodiment, the speed threshold may be set to 1/2 of the speed at the time of normal travel, may be 1/2, 1/3, 1/4, and the like of the current movement speed. In this case, the robot 100 may continue to travel on the boundary in a low speed state to determine whether the gap between the photovoltaic devices 600 may be crossed. If the value S2 of the second sensor 1042 at this time becomes 0 (i.e., the gap between the photovoltaic devices 600 is smaller than the first distance threshold), the robot 100 can continue to travel in the V direction, which gives the robot 100 the ability to cross the gap.
When S3 is 1 or S4 is 1, and S1 is 0 and S2 is 0, there are three combinations, S1 is 0, S2 is 0, S3 is 1 and S4 is 0; s1 ═ 0, S2 ═ 0, S3 ═ 0, S4 ═ 1; in all three cases, at least one of the sensors located opposite the linear velocity V exceeds the boundary of the photovoltaic device 600, with S1 being 0, S2 being 0, S3 being 1, and S4 being 1. Similarly, referring to fig. 4, for example, S1 is equal to 0, S2 is equal to 0, S3 is equal to 1, and S4 is equal to 0, that is, the third sensing device 1043 exceeds the boundary of the photovoltaic device 600, and the third sensing device 1043 is located in the opposite direction of the linear velocity V of the robot. However, since the first distance (i.e., the distance from the third sensing device 1043 to the first tangent line a 2) in the robot 100 is less than the first distance threshold, the robot 100 may continue to move forward until the first distance is greater than or equal to the preset first distance threshold.
However, when the robot 100 moves in the opposite direction of V (i.e. V is smaller than 0), it is necessary to further limit the value of the linear velocity V, and at this time, the absolute value of V should not exceed the preset velocity threshold, and the angular velocity ω is not limited.
In the present embodiment, the speed threshold may be set to 1/2 of the speed at the time of normal travel, may be 1/2, 1/3, 1/4, and the like of the current movement speed. In this case, the robot 100 may continue to travel on the boundary in a low speed state to determine whether the gap between the photovoltaic devices 600 may be crossed. If the value S2 of the third sensor 1043 becomes 0 (i.e. the gap between the photovoltaic devices 600 is smaller than the first distance threshold) at this time, the robot 100 can continue to travel in the opposite direction of V, which also gives the robot 100 the ability to cross the gap.
In the present embodiment, other cases such as: setting the linear velocity to 0 when S1-1, S3-1, S2-0, S4-0 or S1-0, S3-0, S2-1, S4-1; when S1 is 0, S2 is 1, S3 is 1, S4 is 1, or S1 is 1, S2 is 1, S3 is 1, and S4 is 0, setting the angular velocity to be greater than or equal to 0, and setting the linear velocity to be 0; when S1 is 1, S2 is 0, S3 is 1, S4 is 1, S1 is 1, S2 is 1, S3 is 0, and S4 is 1, the angular velocity is set to be less than or equal to 0, and the linear velocity is set to be 0; when S1 is equal to 1, S2 is equal to 1, S3 is equal to 1, and S4 is equal to 1, the angular velocity is set equal to 0, and the linear velocity is set equal to 0. All of them are similar to the control method under the first rule, and are not repeated herein.
Based on the above design, according to the robot 100 control method provided by the application, the sensing device 104 is arranged to detect whether the robot 100 exceeds the boundary of the photovoltaic device 600, the boundary exceeding condition is judged according to the fed-back first detection data, and the first distance is compared with the first distance threshold value, so that the condition that the robot 100 falls off from the surface of the photovoltaic device 600 can be reduced, and meanwhile, the robot 100 is endowed with the capability of crossing gaps within a safe distance.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a robot according to an embodiment of the present application. The control method in this embodiment is as follows:
s310: a plurality of second detection data corresponding to the plurality of sensing devices 104 is acquired, and it is determined whether all of the plurality of second detection data is equal to the first threshold.
Specifically, before the robot 100 runs on the surface of the photovoltaic device 600, all that needs to be done is to put the robot 100, and at this time, the second detection data detected by the plurality of sensing devices 104 is used to determine whether the initial placement position of the robot 100 is correct, that is, whether the robot 100 is completely located in the internal area of the photovoltaic device 600.
In this embodiment, the second detection data is similar to the first detection data in the previous embodiment and is binary. For example, the first threshold in this embodiment is set to 0, that is, when the second detection data is equal to the first threshold, it indicates that the robot 100 is in the initial state, and the corresponding sensing device 104 is located on the surface of the photovoltaic device 600.
S320: and if the plurality of second detection data are all equal to the first threshold value, controlling the robot 100 to operate.
Specifically, when the second detection data are all equal to the first threshold value, which indicates that the respective sensing devices 104 of the robot 100 are located in the photovoltaic device 600 at this time, the robot 100 is in the correct initial state and can be ready to start operating.
S330: and prompting to replace the robot 100 if at least one second detection data in the plurality of second detection data is not equal to the first threshold value, and setting the linear velocity to be 0 and the angular velocity to be 0.
Specifically, when there is a case other than 0 in the second detection data, that is, the corresponding sensing device 104 is beyond the boundary of the photovoltaic device 600. At this time, it is supposed to set both the linear velocity and the angular velocity of the robot 100 to 0, and to prompt the robot 100 to be repositioned and adjust the posture of the robot 100.
After the robot 100 normally operates, steps S340 to S380 are performed. Steps S340 to S380 in this embodiment are steps S210 to S240 in the previous embodiment, which are not described in detail in this embodiment.
It should be noted that in the present embodiment, after step S370 or S380 ends, it is necessary to return to S340. That is, S340 to S380 are continuously re-executed. In this way, the position state of the robot 100 can be detected by the sensing device 104, and the motion parameters of the robot 100 can be controlled in real time.
It should be noted that, since the photovoltaic device 600 in the embodiments of the application is a rectangle by default, the sensing device 104 located on the diagonal of the robot 100 does not exceed the boundary of the photovoltaic device 600, and of course, if the photovoltaic device 600 is a photovoltaic device 600 with other shapes, the person skilled in the art can adjust the photovoltaic device according to the actual situation as far as the design idea of the application is concerned, but the photovoltaic device 600 is all within the protection scope of the application.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a robot according to an embodiment of the present application. The robot 100 may include a memory 110, a processor 120, a communicator 130, and a sensing device 140. The memory 110, the processor 120, the communicator 130, and the sensing device 140 are electrically connected to each other, directly or indirectly, to enable data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
Specifically, the processor 120 is configured to:
after the robot 100 operates, acquiring a plurality of first detection data corresponding to the plurality of sensing devices 140, and determining whether all of the plurality of first detection data are equal to a preset first threshold;
if not, acquiring a first distance of the robot 100 in operation, and judging whether the first distance is greater than or equal to a preset first distance threshold value;
if the first distance is judged to be greater than or equal to the first distance threshold value, setting the linear speed and the angular speed of the robot according to a preset first rule;
if the first distance is smaller than the first distance threshold, setting the linear velocity and the angular velocity of the robot 100 according to a preset second rule.
Further, the communicator 110 couples various input/output devices to the processor 120 and the memory 110, and the software programs and modules in the memory 110 may also include an operating system, which may include various software components and/or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.) and may communicate with various hardware or software components to provide an operating environment for other software components.
The processor 120 may be an integrated circuit chip having signal processing capabilities. The Processor 120 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like. But may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware device. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or any conventional processor or the like.
The communicator 130 may be configured to establish a communication connection between the robot 100 and an external terminal or a server to implement data communication between the robot 100 and the external terminal or the server. For example, in this embodiment, the communicator 130 may be configured to receive and transmit electromagnetic waves, and perform interconversion between the electromagnetic waves and the electrical signals, so as to communicate with a communication network or an external terminal or a server. The communicator 130 may communicate with various networks such as the internet, an intranet, a wireless network, or an external monitoring terminal through a wireless network.
The wireless network may comprise a cellular telephone network, a wireless local area network, or a metropolitan area network. The wireless network described above may use various communication standards, protocols, and technologies including, but not limited to, global system for mobile communications, enhanced mobile communications, wideband code division multiple access, time division multiple access, bluetooth, wireless fidelity, voice over internet protocol, global microwave interconnect access, other protocols for email, instant messaging, and short messaging, and any other suitable communication protocols, and may even include those protocols not yet developed.
The sensing device 140 has been described in detail in the previous embodiment, and is not described in detail herein.
It will be appreciated that the configuration shown in figure 7 is merely illustrative and that the robot 100 may also include more or fewer components than shown in figure 7, or have a different configuration than shown in figure 7. The various components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
In addition, the present application also proposes a readable storage medium, in which a computer program is stored, and when the computer program runs, the robot 100 in which the storage medium is located is controlled to execute the control method.
In summary, the present application provides a control method of a robot, a robot and a storage medium, where the robot is provided with a sensing device, the sensing device can detect whether the robot is separated when the robot walks to the edge of a photovoltaic module, obtain a first distance of the robot during operation, and determine whether the first distance is greater than or equal to a preset first distance threshold; if the first distance is judged to be greater than or equal to the first distance threshold, setting the linear speed and the angular speed of the robot according to a preset first rule; if the first distance is smaller than the first distance threshold value, setting the linear speed and the angular speed of the robot according to a preset second rule; therefore, the robot control system and the robot control method control the movement of the robot according to the first distance of the robot to reduce the risk of falling when the robot runs to the edge of the photovoltaic module.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus and method embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present application.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (7)
1. A method of controlling a robot, the robot operating on a surface of a photovoltaic device, the robot being provided with a plurality of sensing devices, the method comprising:
after the robot runs, acquiring a plurality of first detection data corresponding to the plurality of sensing devices, and judging whether all the first detection data are equal to a preset first threshold value;
if not, acquiring a first distance of the robot in operation corresponding to the fact that the robot exceeds the boundary of the photovoltaic device, and judging whether the first distance is greater than or equal to a preset first distance threshold value or not;
if the first distance is judged to be larger than or equal to the first distance threshold value, and the linear speed and the angular speed of the robot are set according to a preset first rule corresponding to the fact that the robot exceeds a safe distance;
if the first distance is smaller than the first distance threshold value and the corresponding robot does not exceed the safe distance, setting the linear velocity and the angular velocity of the robot according to a preset second rule;
the robot is provided with a first sensing device, a second sensing device, a third sensing device and a fourth sensing device, the first sensing device and the third sensing device are arranged on the same side of the robot, the first sensing device and the second sensing device are arranged at the same end of the robot, and second detection data respectively corresponding to the first sensing device, the second sensing device, the third sensing device and the fourth sensing device are S1, S2, S3 and S4;
the setting of the linear velocity and the angular velocity of the robot according to a preset first rule includes:
when S1 is 1 or S2 is 1, and S3 is 0, and S4 is 0, setting the linear velocity to be less than 0;
when S3 ═ 1 or S4 ═ 1, and S1 ═ 0, and S2 ═ 0, set the linear velocity greater than 0;
setting the linear velocity to 0 when S1-1, S3-1, S2-0, S4-0 or S1-0, S3-0, S2-1, S4-1;
when S1 is 0, S2 is 1, S3 is 1, S4 is 1, S1 is 1, S2 is 1, S3 is 1, S4 is 0, the angular velocity is set to be greater than or equal to 0, and the linear velocity is set to be 0;
when S1 is 1, S2 is 0, S3 is 1, S4 is 1, S1 is 1, S2 is 1, S3 is 0, and S4 is 1, the angular velocity is set to be less than or equal to 0, and the linear velocity is set to be 0;
when S1 is 1, S2 is 1, S3 is 1, and S4 is 1, setting the angular velocity equal to 0 and setting the linear velocity equal to 0;
the setting of the linear velocity and the angular velocity of the robot according to a preset second rule includes:
when S1 is equal to 1 or S2 is equal to 1, and S3 is equal to 0, and S4 is equal to 0, if the current linear velocity of the robot is greater than 0, setting the linear velocity to be less than a preset velocity threshold;
when S3 is equal to 1 or S4 is equal to 1, and S1 is equal to 0, and S2 is equal to 0, if the current linear velocity of the robot is less than 0, setting the absolute value of the linear velocity to be less than the velocity threshold;
setting the linear velocity to 0 when S1-1, S3-1, S2-0, S4-0 or S1-0, S3-0, S2-1, S4-1;
when S1 is 0, S2 is 1, S3 is 1, S4 is 1, or S1 is 1, S2 is 1, S3 is 1, and S4 is 0, setting the angular velocity to be greater than or equal to 0, and setting the linear velocity to be 0;
when S1 is 1, S2 is 0, S3 is 1, S4 is 1, S1 is 1, S2 is 1, S3 is 0, and S4 is 1, the angular velocity is set to be less than or equal to 0, and the linear velocity is set to be 0;
when S1 is equal to 1, S2 is equal to 1, S3 is equal to 1, and S4 is equal to 1, the angular velocity is set equal to 0, and the linear velocity is set equal to 0.
2. The control method according to claim 1, wherein before the step of acquiring a plurality of first detection data corresponding to a plurality of the sensing devices after the operation of the robot, the control method further comprises:
placing a robot on the surface of the photovoltaic device, acquiring a plurality of second detection data corresponding to the plurality of sensing devices, and judging whether the plurality of second detection data are all equal to the first threshold value;
and if the second detection data are all equal to the first threshold value, controlling the robot to operate.
3. The control method according to claim 2, wherein after the step of determining whether all of the plurality of second detection data are equal to a preset first threshold value, the control method further comprises:
and prompting to replace the robot if at least one second detection data in the plurality of second detection data is not equal to the first threshold value, and setting the linear velocity to be 0 and the angular velocity to be 0.
4. The control method according to claim 1, wherein after the step of determining whether all of the plurality of first detection data are equal to the first threshold value, the control method further comprises:
and if the first detection data are all equal to the first threshold value, returning to the step of controlling the robot to operate.
5. The control method according to claim 1, characterized in that after the step of setting the linear and angular velocities of the robot, the control method further comprises: returning to the step of acquiring a plurality of first detection data corresponding to the plurality of sensing devices after the robot operates.
6. A robot for operating on a surface of a photovoltaic module, the robot comprising a plurality of sensing devices and a processor coupled to the plurality of sensing devices, wherein the processor is configured to:
after the robot runs, acquiring a plurality of first detection data corresponding to the plurality of sensing devices, and judging whether all the first detection data are equal to a preset first threshold value;
if not, acquiring a first distance of the robot in operation corresponding to the fact that the robot exceeds the boundary of the photovoltaic device, and judging whether the first distance is greater than or equal to a preset first distance threshold value or not;
if the first distance is judged to be larger than or equal to the first distance threshold value, and the linear speed and the angular speed of the robot are set according to a preset first rule corresponding to the fact that the robot exceeds a safe distance;
if the first distance is smaller than the first distance threshold value and the corresponding robot does not exceed the safe distance, setting the linear velocity and the angular velocity of the robot according to a preset second rule;
the robot is provided with a first sensing device, a second sensing device, a third sensing device and a fourth sensing device, the first sensing device and the third sensing device are arranged on the same side of the robot, the first sensing device and the second sensing device are arranged at the same end of the robot, and second detection data respectively corresponding to the first sensing device, the second sensing device, the third sensing device and the fourth sensing device are S1, S2, S3 and S4;
the setting of the linear velocity and the angular velocity of the robot according to a preset first rule includes:
when S1 is 1 or S2 is 1, and S3 is 0, and S4 is 0, setting the linear velocity to be less than 0;
when S3 is 1 or S4 is 1, and S1 is 0, and S2 is 0, setting the linear velocity to be greater than 0;
setting the linear velocity to 0 when S1-1, S3-1, S2-0, S4-0 or S1-0, S3-0, S2-1, S4-1;
when S1 is 0, S2 is 1, S3 is 1, S4 is 1, or S1 is 1, S2 is 1, S3 is 1, and S4 is 0, setting the angular velocity to be greater than or equal to 0, and setting the linear velocity to be 0;
when S1 is 1, S2 is 0, S3 is 1, S4 is 1, S1 is 1, S2 is 1, S3 is 0, and S4 is 1, the angular velocity is set to be less than or equal to 0, and the linear velocity is set to be 0;
when S1 is 1, S2 is 1, S3 is 1, and S4 is 1, setting the angular velocity equal to 0 and setting the linear velocity equal to 0;
the setting of the linear velocity and the angular velocity of the robot according to a preset second rule includes:
when S1 is equal to 1 or S2 is equal to 1, and S3 is equal to 0, and S4 is equal to 0, if the linear velocity of the current robot is greater than 0, setting the linear velocity to be less than a preset velocity threshold;
when S3 is 1 or S4 is 1, and S1 is 0, and S2 is 0, if the linear velocity of the current robot is less than 0, setting an absolute value of the linear velocity to be less than the velocity threshold;
setting the linear velocity to 0 when S1-1, S3-1, S2-0, S4-0 or S1-0, S3-0, S2-1, S4-1;
when S1 is 0, S2 is 1, S3 is 1, S4 is 1, or S1 is 1, S2 is 1, S3 is 1, and S4 is 0, setting the angular velocity to be greater than or equal to 0, and setting the linear velocity to be 0;
when S1 is 1, S2 is 0, S3 is 1, S4 is 1, S1 is 1, S2 is 1, S3 is 0, and S4 is 1, the angular velocity is set to be less than or equal to 0, and the linear velocity is set to be 0;
when S1 is equal to 1, S2 is equal to 1, S3 is equal to 1, and S4 is equal to 1, the angular velocity is set equal to 0, and the linear velocity is set equal to 0.
7. A readable storage medium in which a computer program is stored, the computer program controlling a robot in which the storage medium is located to perform the control method according to any one of claims 1 to 5 when executed.
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| CN109623876B (en) * | 2019-01-04 | 2022-07-08 | 平安科技（深圳）有限公司 | Motion detection method, motion detection device and computer readable storage medium |
| WO2021012525A1 (en) * | 2019-07-24 | 2021-01-28 | 苏州宝时得电动工具有限公司 | Method for controlling automatic locomotion device to return to station, and automatic locomotion device |
| CN114616973B (en) * | 2020-12-11 | 2023-10-10 | 苏州宝时得电动工具有限公司 | Mower and control method of mower |
| CN113184507A (en) * | 2021-04-28 | 2021-07-30 | 协鑫集成科技股份有限公司 | Stepping control method, device and equipment for photovoltaic module and storage medium |
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