CN116317902A - Photovoltaic panel, robot, and robot control method - Google Patents

Abstract

The application is applicable to the technical field of photovoltaic power generation, and provides a photovoltaic panel, a robot and a robot control method, wherein the photovoltaic panel comprises a supporting rod, a swinging rod, a folding assembly and an angle adjusting assembly, the folding assembly is used for folding and unfolding a photovoltaic sub-panel, and the angle adjusting assembly can adjust the orientation of the photovoltaic sub-panel; the robot comprises a chassis, a shell, a photovoltaic panel, a power supply system and an electric power storage system; the robot control method comprises angle calculation, shadow area and current time calculation, residence position calculation, path planning, movement to the residence position and power generation; this application makes light Fu Ziban can be all the time towards the sun through the setting of swinging arms, has improved generating efficiency, makes light Fu Ziban pack up or open through folding assembly's setting, has improved space utilization.

Description

Photovoltaic panel, robot, and robot control method

Technical Field

The application relates to the technical field of photovoltaic power generation, in particular to a photovoltaic panel, a robot and a robot control method.

Background

Solar energy is inexhaustible renewable energy, has the characteristics of cleanliness, safety, universality, economy and low maintenance, and has important strategic positions in a durable energy strategy. Currently, the main solar energy utilization modes can be roughly divided into two modes of photo-thermal conversion and photoelectric conversion, wherein the photoelectric conversion is the fastest growing field in recent years and is also the most economic potential energy development field.

At present, the photovoltaic power generation and storage device mainly takes a fixed type, namely the installation position of a photovoltaic panel is relatively fixed, the mode is influenced by the direct solar radiation position, the power generation efficiency and the stability of the photovoltaic power generation and storage device are influenced, and the mode occupies a large space and has a low space utilization rate.

Disclosure of Invention

Aiming at the problems, the application provides a photovoltaic panel, a robot and a robot control method, which at least solve the problems of lower power generation efficiency and lower space utilization rate of a fixed photovoltaic sub-panel in the prior art.

The embodiment of the application provides a photovoltaic board, includes a plurality of photovoltaic sub-boards, the photovoltaic board still includes:

a support rod;

the swinging rod is hinged to one end of the supporting rod;

the folding assembly is arranged on the swinging rod and is used for bearing a plurality of lights Fu Ziban, the folding assembly can enable the photovoltaic sub-boards to be sequentially overlapped to enable the photovoltaic boards to be in a folding state, and the folding assembly can enable the photovoltaic sub-boards to be sequentially staggered to enable the photovoltaic boards to be in an unfolding state;

the angle adjusting assembly is connected to the supporting rod and the swinging rod and is used for driving the swinging rod to swing relative to the supporting rod.

In an embodiment, the folding assembly includes a plurality of brackets and a driving structure, the brackets are used for bearing at least one light Fu Ziban, the plurality of brackets are sequentially arranged at intervals along the axial direction of the swinging rod, and one end of each bracket is sleeved on the swinging rod; the driving structure is connected to the swinging rod and used for driving the brackets to rotate around the axial direction of the swinging rod in sequence.

In an embodiment, the plurality of brackets include a driving bracket, a fixing bracket and a plurality of passive brackets, the plurality of passive brackets are sequentially arranged between the driving bracket and the fixing bracket at intervals along the axial direction of the swinging rod, the driving bracket is connected with the driving structure, and the fixing bracket is fixedly connected with the swinging rod;

traction structures are arranged between the driving support and the driven support, between two adjacent driven supports and between the driven support and the fixed support, the driving support can drive the adjacent driven support to rotate through the traction structures, and the driven support can drive the adjacent other driven support to rotate through the traction structures.

In an embodiment, the traction structure comprises a limit chute and a limit nail, wherein the limit chute is arranged on the passive bracket and the fixed bracket; the limiting nails are arranged on the driving support and the driven support, and are accommodated in the limiting sliding grooves of the adjacent driven support or the adjacent fixed support.

In an embodiment, the driving structure comprises a first power source and a transmission structure, wherein the first power source and the transmission structure are arranged on the swinging rod, and the transmission structure is connected with the first power source and the driving bracket.

In an embodiment, the photovoltaic panel further comprises:

the control assembly comprises a sun tracking sensor and a main control board which are arranged on the swinging rod, and the control assembly is used for controlling the working state of the angle adjusting assembly.

In an embodiment, the angle adjusting assembly comprises a telescopic cylinder and a pull rod, wherein one end of the telescopic cylinder is hinged to the support rod, and the other end of the telescopic cylinder is hinged to the pull rod; one end of the pull rod, which is far away from the telescopic cylinder, is hinged to the swing rod.

The embodiment of the application also provides a robot, which comprises:

A chassis;

a housing connected to the chassis;

the support rod is connected to the shell or the chassis;

the power supply system and the power storage system are both connected to the chassis, the power storage system is electrically connected to the light Fu Ziban, and the power storage system is used for storing electric energy generated by the photovoltaic sub-panel; the power storage system is also electrically connected to the power supply system to supply electric power to the power supply system.

In an embodiment, the robot further comprises:

the universal wheel is arranged on one side of the chassis, which is away from the shell;

the suspension assembly is arranged on the chassis;

the two driving wheels are coaxially arranged at the opposite ends of the suspension assembly;

the second power source is arranged on the suspension assembly and is respectively connected with the two driving wheels;

the control unit is connected to the chassis and is electrically connected with the second power source and the power supply system.

In an embodiment, the robot further comprises:

and the navigation system is connected with the chassis and the control unit.

The embodiment of the application also provides a robot control method, which is applied to the robot and comprises the following steps:

acquiring a solar altitude and a solar azimuth in real time;

opening the photovoltaic panel by the folding assembly;

and adjusting the angle of the swinging rod relative to the supporting rod through the angle adjusting component according to the solar altitude angle and the solar azimuth angle.

In an embodiment, acquiring the solar altitude and the solar azimuth in the real-time comprises:

acquiring a local date, a current time, a three-dimensional map and robot coordinates;

and calculating a solar altitude angle and a solar azimuth angle according to the local date, the current time and the robot coordinates.

In an embodiment, after the acquiring the solar altitude and the solar azimuth in real time, the robot control method further includes:

confirming a shadow area according to the solar altitude angle, the solar azimuth angle and the three-dimensional map, and analyzing a power generation resident position according to the three-dimensional map and the shadow area;

analyzing the power generation residence positions of different time periods according to the local date and the change of the current time, and planning a moving path and moving time;

And controlling the robot to move to the corresponding power generation resident position according to the moving path and the moving time.

In an embodiment, after the acquiring the solar altitude and the solar azimuth in real time, the robot control method further includes:

confirming a solar azimuth according to the local date, the current time and the robot coordinate, and confirming a photovoltaic panel azimuth according to the solar azimuth;

the orientation of the photovoltaic panel is adjusted by in-situ rotation of the robot.

In an embodiment, after the photovoltaic panel is unfolded by the folding assembly, the robot control method further comprises:

monitoring the electric quantity of the electric storage system, determining an end time according to the electric quantity of the electric storage system and the current time, and folding the photovoltaic panel through the folding assembly after the end time is reached;

and determining a return path according to the three-dimensional map, moving the robot to the side of a target load according to the return path, and discharging the power storage system to the target load.

In an embodiment, before the acquiring the solar altitude and the solar azimuth in real time, the robot control method further includes:

Presetting tasks, basic parameters and monitoring in real time;

the robot performs self-checking on each part of the robot and obtains self-checking parameters, wherein the self-checking parameters comprise at least one of electric quantity of the electric storage system and coordinates of the robot.

The photovoltaic panel folding device aims at the problems of low power generation efficiency and low space utilization rate of the fixed photovoltaic panel in the prior art, and the folding assembly is arranged to enable the photovoltaic panel to be folded and retracted, so that space occupation can be reduced as required, and the space utilization rate is improved; the swinging rod is arranged, and the photovoltaic panel can synchronously move along with the movement of the sun by controlling the swinging of the swinging rod, so that the sun light can always directly irradiate the photovoltaic panel, and the power generation efficiency is improved;

the utility model has the advantages of this application structure is succinct, makes the photovoltaic board can swing and face the sun all the time through the setting of swinging arms, has improved generating efficiency, makes the photovoltaic board pack up or open through folding assembly's setting, has improved space utilization, and the practicality is strong.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a photovoltaic panel according to an embodiment of the first aspect of the present application when the photovoltaic panel is unfolded.

Fig. 2 is a schematic top view of the photovoltaic panel of fig. 1 when deployed.

Fig. 3 is a schematic top view of a photovoltaic panel according to an embodiment of the first aspect of the present application when folded.

Fig. 4 is a perspective view of the photovoltaic panel shown in fig. 3 when folded.

Fig. 5 is a schematic front view of the photovoltaic panel of fig. 3 when folded.

Fig. 6 is a schematic perspective view of a folding assembly of the photovoltaic panel according to the embodiment of the first aspect of the present application when the photovoltaic panel is unfolded.

Fig. 7 is a schematic front view of the folding assembly of fig. 6 when unfolded.

Fig. 8 is an exploded view of the towing structure in the folding assembly shown in fig. 6.

Fig. 9 is a schematic view of a control assembly in the photovoltaic panel shown in fig. 1.

Fig. 10 is a schematic perspective view of a robot according to an embodiment of the second aspect of the present application.

Fig. 11 is a perspective view of the robot shown in fig. 10 after removing the photovoltaic sub-panel.

Fig. 12 is a perspective view illustrating an internal structure of the robot shown in fig. 10.

Fig. 13 is a perspective view of a suspension assembly in the robot shown in fig. 10.

Fig. 14 is a logic block diagram of a method for adjusting an angle of a photovoltaic panel in a robot control method according to an embodiment of a third aspect of the present application.

Fig. 15 is a logic block diagram of a method for acquiring a solar altitude angle and a solar azimuth angle in real time in a robot control method according to an embodiment of a third aspect of the present application.

Fig. 16 is a logic block diagram of a method for adjusting an angle and an orientation of a photovoltaic panel in a robot control method according to an embodiment of a third aspect of the present application.

Fig. 17 is a logic block diagram of a logic for confirming a power generation resident location and planning a movement path in the robot control method according to the third aspect of the present application.

Fig. 18 is a logic block diagram of a judgment logic and a control logic for ending power generation in the robot control method according to the third aspect of the present application.

Fig. 19 is a logic block diagram of a parameter presetting method and a self-checking method in a robot control method according to an embodiment of a third aspect of the present application.

The meaning of the labels in the figures is:

100. a photovoltaic panel; 101. light Fu Ziban;

10. a support rod;

20. a swinging rod;

30. a folding assembly; 31. a bracket; 311. an active support; 312. a fixed bracket; 313. a passive stent; 32. a traction structure; 321. limiting sliding grooves; 322. a limit nail; 33. a driving structure; 331. a first power source; 332. a transmission structure;

40. an angle adjustment assembly; 41. a telescopic cylinder; 42. a pull rod;

110. A control assembly; 111. a sun-tracking sensor; 112. a main control board;

200. a robot;

50. a chassis; 51. a universal wheel; 52. a suspension assembly; 53. a driving wheel; 54. a second power source;

60. a housing;

70. a power supply system;

80. an electric storage system;

90. a navigation system.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings, i.e. embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper," "lower," "left," "right," and the like are used for convenience of description based on the orientation or positional relationship shown in the drawings, and do not denote or imply that the devices or elements in question must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting of the patent. The terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.

It should be further noted that, in the embodiments of the present application, the same reference numerals denote the same components or the same parts, and for the same parts in the embodiments of the present application, reference numerals may be given to only one of the parts or the parts in the drawings by way of example, and it should be understood that, for other same parts or parts, the reference numerals are equally applicable.

At present, the photovoltaic power generation and storage device mainly takes a fixed type, namely the installation position of the photovoltaic sub-board is relatively fixed, the mode is influenced by the direct solar radiation position, the power generation efficiency and the stability of the photovoltaic power generation and storage device are influenced, the space occupation of the mode is large, and the space utilization rate is low.

From this application provides a photovoltaic board, robot and robot control method, makes the photovoltaic board can be all the time towards the sun through the setting of swinging arms, has improved generating efficiency, makes the photovoltaic board pack up or open through folding assembly's setting, has improved space utilization.

For the purpose of illustrating the technical solutions described in this application, reference is made to the following description taken in conjunction with the accompanying drawings and examples.

Referring to fig. 1 to 5, an embodiment of the first aspect of the present application proposes a photovoltaic panel 100, which includes a support bar 10, a swing bar 20, and a folding assembly 30 surrounding an angle adjusting assembly 40.

The support bar 10 is used to provide a fixed foundation for the swing bar 20 and the angle adjusting assembly 40, and the support bar 10 may be cylindrical, prismatic or of various other shapes; the support rod 10 may be made of metal, plastic or other various hard materials.

The swinging rod 20 is hinged to one end of the supporting rod 10, the swinging rod 20 can swing relative to the supporting rod 10, and the swinging rod 20 is used for providing a fixed foundation for the folding assembly 30 and the angle adjusting assembly 40; the swing rod 20 may be hinged to the support rod 10 through a rotation shaft, or may be hinged to the support rod 10 through a shutter or other various hinge structures; the swing lever 20 may be cylindrical, prismatic or of various other shapes; the material of the swing lever 20 may be metal, plastic or other various hard materials.

The folding assembly 30 is arranged on the swinging rod 20, the folding assembly 30 is used for bearing a plurality of photovoltaic sub-boards 101, the folding assembly 30 can synchronously move along with the movement of the swinging rod 20, so that the orientation of the photovoltaic sub-boards 101 is adjusted, the folding assembly 30 has a folding state and an unfolding state, the photovoltaic boards 100 can have the folding state and the unfolding state, and particularly, with reference to fig. 1 and 2, when the folding assembly 30 is in the unfolding state, the plurality of photovoltaic sub-boards 101 are staggered in sequence and can all receive solar irradiation so as to collect solar energy; referring to fig. 3, 4, and 5, when the folding assembly 30 is in a folded state, the plurality of photovoltaic sub-panels 101 are overlapped one above another to reduce space occupation.

The folding assembly 30 can sequentially overlap the plurality of photovoltaic sub-boards 101 to enable the photovoltaic board 100 to be in a folded state, the folding assembly 30 can sequentially stagger the plurality of photovoltaic sub-boards 101 to enable the photovoltaic board 100 to be in an unfolded state, for example, the folding assembly 30 can be a folding fan-like structure formed by a plurality of fixing boards, one end of each fixing board is rotatably connected to the swinging rod 20, and each fixing board is fixedly provided with one photovoltaic sub-board 101; the folding assembly 30 may also include a plurality of pull cords, such that one end of the photovoltaic sub-panel 101 is rotatably connected to the swing rod 20, and such that two adjacent photovoltaic sub-panels 101 are connected by the pull cords, and the folding assembly 30 may also be configured as a link or various other structures capable of folding and unfolding.

The photovoltaic sub-panel 101 may have a bar shape or a fan shape; preferably, referring to fig. 1, the light Fu Ziban 101 has a fan shape, and when the folding assembly 30 is in the unfolded state, the plurality of photovoltaic sub-panels 101 can form a complete circle, at this time, the adjacent light Fu Ziban 101 does not overlap in the axial direction of the swinging rod 20, and no gap exists between the adjacent photovoltaic sub-panels 101 in the axial direction of the swinging rod 20, so that the photovoltaic sub-panels 101 have a higher utilization rate and a higher light utilization rate.

The angle adjusting component 40 is connected to the support rod 10 and the swinging rod 20 at the same time, and the angle adjusting component 40 is used for driving the swinging rod 20 to swing relative to the support rod 10; the angle adjusting component 40 may be an air cylinder, where one end of the air cylinder is hinged to the support rod 10 and the other end of the air cylinder is slidably connected to the swinging rod 20, and the air cylinder stretches to drive the swinging rod 20 to swing relative to the support rod 10; the angle adjusting component 40 can also be a rotary cylinder, the main body of the rotary cylinder is fixedly connected with the support rod 10, the output end of the rotary cylinder is fixedly connected with the swinging rod 20, and the swinging of the swinging rod 20 relative to the support rod 10 is realized through the rotary cylinder; the angle adjusting assembly 40 may also be a speed reducer, a motor, and other various slewing mechanisms, and the angle adjusting assembly 40 may also include other components such as a connecting rod.

The action process of the embodiment is as follows: when solar energy is not required to be collected, a worker can fold and collapse the light Fu Ziban 101 through the folding assembly 30, so that occupied space is reduced; when solar energy needs to be collected, a worker only needs to open the photovoltaic panel 100 through the folding assembly 30, and along with movement of the sun, the worker can enable the photovoltaic panel 100 to be always opposite to the sun through adjusting the relative positions of the swinging rod 20 and the supporting rod 10, so that the efficiency of the photovoltaic panel 100 is improved.

The beneficial effects of this embodiment lie in: the folding assembly 30 is arranged, so that the photovoltaic panel 100 can be folded and retracted, thereby reducing space occupation according to needs and improving space utilization rate; the swing rod 20 is provided, and the photovoltaic panel 100 can move synchronously along with the movement of the sun by controlling the swing of the swing rod 20, so that the sun light can always directly irradiate the photovoltaic panel 100, thereby improving the power generation efficiency.

Referring to fig. 6 and 7, in an embodiment, the folding assembly 30 specifically includes a plurality of brackets 31, the brackets 31 are used for carrying at least one photovoltaic sub-panel 101, and the swinging rod 20 can swing the folding assembly 30 synchronously and drive the light Fu Ziban 101 to swing; the brackets 31 are sequentially arranged at intervals along the axial direction of the swinging rod 20, the interval space between every two adjacent brackets 31 is used for containing light Fu Ziban 101, one end of each bracket 31 is sleeved on the swinging rod 20, and the brackets 31 can rotate around the axial direction of the swinging rod 20; it will be appreciated that since the bracket 31 needs to rotate about the swing lever 20, the swing lever 20 should preferably have a cylindrical shape so that the bracket 31 can smoothly rotate.

The folding assembly 30 further comprises a driving structure 33, the driving structure 33 is connected to the swinging rod 20, the driving structure 33 can synchronously move along with the swinging of the swinging rod 20, and the driving structure 33 is used for driving the plurality of brackets 31 to sequentially rotate around the axial direction of the swinging rod 20; the driving structure 33 may be a belt driving structure, specifically, each bracket 31 is rotatably connected to one end of the swinging rod 20 and has a driven pulley, the swinging rod 20 is provided with a driving pulley, and the transmission ratio of the driving pulley to each driven pulley is different, so as to achieve the effect of sequential rotation; the drive structure 33 may also be a gear drive structure, a sprocket drive structure, or various other drive structures.

Referring to fig. 1 and 2, when the folding assembly 30 is in the unfolded state, the plurality of photovoltaic sub-panels 101 are sequentially staggered and spaced from each other to be able to receive solar radiation, so as to collect solar energy; referring to fig. 3, 4, and 5, when the folding assembly 30 is in the folded state, the plurality of brackets 31 are overlapped up and down along the axial direction of the swing lever 20, and the light Fu Ziban 101 is also overlapped up and down along with the brackets 31 to reduce space occupation; the shape of the photovoltaic sub-panel 101 may be a bar shape, or may be a fan shape, or other various shapes, and when the light Fu Ziban is a fan shape and the folding assembly 30 is in the station-open state, the plurality of photovoltaic sub-panels 101 can form a complete circle, at this time, the adjacent light Fu Ziban 101 does not overlap in the axial direction of the swing rod 20, and no gap exists between the adjacent photovoltaic sub-panels 101 in the axial direction of the swing rod 20.

In this embodiment, the plurality of brackets 31 specifically include a driving bracket 311, a fixing bracket 312 and a plurality of passive brackets 313, wherein one ends of the driving bracket 311, the fixing bracket 312 and the passive brackets 313 are rotatably sleeved on the swinging rod 20, and the plurality of passive brackets 313 are sequentially arranged between the driving bracket 311 and the fixing bracket 312 along the axial direction of the swinging rod 20 at intervals, i.e. the driving bracket 311 and the fixing bracket 312 are respectively positioned at two opposite sides of the plurality of passive brackets 313; the driving bracket 311 is connected to the driving structure 33, so that the driving structure 33 can drive the driving bracket 311 to rotate around the swing rod 20.

Traction structures 32 are arranged between every two adjacent brackets 31, and specifically, traction structures 32 are arranged between each driving bracket 311 and each adjacent passive bracket 313, between each adjacent two passive brackets 313 and between each passive bracket 313 and each fixed bracket 312; the traction structure 32 is used for enabling two adjacent brackets 31 to move in a linkage manner, specifically, the driving bracket 311 rotates around the swinging rod 20 and can drive the adjacent driven bracket 313 to rotate through the traction structure 32, the driven bracket 313 rotates around the swinging rod 20 and can drive the adjacent other driven bracket 313 to rotate through the traction structure 32, the driven bracket 313 close to the fixed bracket 312 rotates around the swinging rod 20 and can drive the fixed bracket 312 to rotate through the traction structure 32, namely, under the action of the traction structure 32, the driving structure 33 can drive the plurality of driven brackets 313 and the fixed bracket 312 to rotate sequentially through the driving bracket 311.

The traction structure 32 may be a rope-shaped or belt-shaped member, where two ends of the traction structure 32 are respectively connected to two adjacent brackets 31, before the rope-shaped or belt-shaped traction structure 32 is straightened, the driving bracket 311 rotates around the swinging rod 20 alone, and as the rope-shaped or belt-shaped traction structure 32 is gradually straightened along with the rotation of the driving bracket 311, after the rope-shaped or belt-shaped traction structure 32 is straightened, the driving bracket 311 continues to rotate to drive the connected driven brackets 313 to synchronously move, so that each driven bracket 313 can rotate sequentially; the traction structure 32 may also be a connecting rod, at this time, two ends of the traction structure 32 are respectively connected to two adjacent brackets 31, when the connecting rod is pulled to be tangential to the movement direction of the active bracket 311, the active bracket 311 rotates around the swinging rod 20 alone, and when the connecting rod is pulled to be tangential to the movement direction of the active bracket 311 along with the rotation of the active bracket 311, after the connecting rod is pulled to be tangential to the movement direction of the active bracket 311, the active bracket 311 continues to rotate so as to drive the connected passive brackets 313 to synchronously move, and thus each passive bracket 313 can rotate sequentially; the traction structure 32 may also be other various components or structures capable of driving the adjacent two brackets 31 to link.

Referring to fig. 6 and 7, in the present embodiment, the fixed support 312 is fixedly connected to the swinging rod 20, and this arrangement makes the active support 311 rotate and drives each passive support 313 to rotate to a certain position in sequence, so that the folding assembly 30 can be completely unfolded, and meanwhile, the active support 311 cannot further rotate under the limitation of the traction structure 32, i.e. provides a limit position for the active support 311, so that the folding assembly 30 has a certain position when in the unfolded state and the folded state, and the situation that the driving structure 33 drives the active support 311 to continuously move is avoided.

Referring to fig. 8, in the present embodiment, the traction structure 32 includes a limiting chute 321 and a limiting nail 322, the limiting chute 321 is formed on the passive support 313 and the fixed support 312, the limiting nail 322 is formed on the active support 311 and the passive support 313, the limiting nail 322 is accommodated in an adjacent limiting chute 321 and can slide in the adjacent limiting chute 321, specifically, the limiting nail 322 of the active support 311 is accommodated in the limiting chute 321 of an adjacent passive support 313, the limiting nail 322 of the passive support 313 is accommodated in the limiting chute 321 of an adjacent other passive support 313, and the limiting nail 322 of the passive support 313 close to the fixed support 312 is accommodated in the limiting chute 321 of the fixed support 312.

The action process of the embodiment is as follows: when the folding assembly 30 is gradually unfolded from the folded state, the driving structure 33 drives the driving bracket 311 to rotate around the swinging rod 20, meanwhile, the limit nails 322 of the driving bracket 311 slide in the limit sliding grooves 321 of the adjacent driven brackets 313, and when the limit nails 322 are abutted against the end parts of the corresponding limit sliding grooves 321, the driving bracket 311 continuously moves to drive the adjacent driven brackets 313 to synchronously rotate around the swinging rod 20; when the passive support 313 rotates around the swinging rod 20, the limit nail 322 of the passive support 313 slides in the limit chute 321 of the adjacent other passive support 313, and when the limit nail 322 is abutted against the end part of the corresponding limit chute 321, the passive support 313 continues to move to drive the adjacent other passive support 313 to synchronously rotate around the swinging rod 20, and finally the effect that the active support 311 and the passive supports 313 are sequentially unfolded is achieved.

It should be understood that, in another embodiment, the limiting chute 321 may also be formed on the driving bracket 311 and the driven bracket 313, and the limiting nail 322 is disposed on the driven bracket 313 and the fixing bracket 312.

Referring to fig. 5 and 7, in one embodiment, the driving structure 33 includes a first power source 331 and a transmission structure 332.

The first power source 331 is disposed on the swing rod 20, the first power source 331 is configured to provide power for the transmission structure 332 and drive the driving bracket 311 to rotate around the swing rod 20 through the transmission structure 332, the first power source 331 may be a motor, or may be a rotary cylinder or other various rotary power sources, or the first power source 331 may be a linear feeding mechanism and output a rotary moment through the steering mechanism.

The transmission structure 332 is configured to transmit power of the first power source 331 to the driving bracket 311, so that the driving bracket 311 can rotate around the swing rod 20; the transmission structure 332 may be a belt transmission structure, for example, including a driving pulley, a driven pulley and a driving belt, where the driving pulley is connected to the first power source 331, the driven pulley is connected to the driving bracket 311 and the driven pulley is coaxial with the swinging rod 20, and the driven pulley is connected to the driving pulley through the driving belt, so that the first power source 331 can drive the driving bracket 311 to rotate through the transmission structure 332; the transmission structure 332 may also be a gear transmission structure, for example, including a driving gear and a driven gear, where the driving gear is connected to the first power source 331, the driven gear is connected to the driving bracket 311 and is coaxial with the swinging rod 20, and the driven gear is meshed with the driving gear, so that the first power source 331 can drive the driving bracket 311 to rotate through the transmission structure 332; the transmission structure 332 may be a chain transmission structure or other transmission structure.

Further, a support plate is provided on the swing rod 20 for providing a fixed foundation for the first power source 331 and the transmission structure 332.

Referring to fig. 1, 4-7, in one embodiment, the angle adjustment assembly 40 includes a telescoping cylinder 41 and a drawbar 42.

One end of the telescopic cylinder 41 is hinged with the support rod 10, and the telescopic cylinder 41 can be an air cylinder, a hydraulic cylinder, an electric telescopic cylinder or other various telescopic cylinders; one end of the pull rod 42 is hinged to one end of the telescopic cylinder 41, which is away from the support rod 10, and the other end of the pull rod 42 is hinged to the swinging rod 20, and the telescopic cylinder 41 can stretch and retract to drive the swinging rod 20 to swing relative to the support rod 10 through the pull rod 42, so that the photovoltaic panel 100 can always face the sun.

Referring to fig. 9, in an embodiment, the photovoltaic panel 100 further includes a control component 110, where the control component 110 includes a sun-tracking sensor 111 and a main control board 112 that are disposed on the swinging rod 20, the control component 110 is configured to control an operation state of the angle adjusting component 40, specifically, the sun-tracking sensor 111 is configured to collect position information of the sun and send the position information to the main control board 112, and the main control board 112 is configured to receive the position information of the sun and control the angle adjusting component 40 to operate according to the position information, so that the photovoltaic panel 100 can always face the sun.

The action process of the embodiment is as follows: the sun tracking sensor 111 can collect the position information of the sun and send the position information to the main control board 112, and the main control board 112 receives the position information and then controls the angle adjusting assembly 40 to work and drives the swinging rod 20 to swing, so that the photovoltaic panel 100 can always face the sun.

The photovoltaic panel 100 provided in the embodiment of the first aspect of the present application has the following action processes: when solar energy is not required to be collected, the folding assembly 30 is in a folded state, and the photovoltaic panel 100 is folded and retracted, so that occupied space is reduced; when solar energy needs to be collected, a worker only needs to open the photovoltaic panel 100 through the folding assembly 30, specifically, the first power source 331 drives the driving support 311 to rotate through the transmission structure 332, the driving support 311 drives the adjacent passive support 313 to rotate through the traction structure 32, and the passive support 313 drives the adjacent passive support 313 to rotate through the traction structure 32, so that the folding assembly 30 is finally in an unfolding state; after that, the sun tracking sensor 111 collects the position information of the sun and sends the position information to the main control board 112, and the main control board 112 receives the position information and then controls the extension or contraction of the telescopic cylinder 41, so that the pull rod 42 drives the swinging rod 20 to swing, and the photovoltaic panel 100 can always face the sun.

The photovoltaic panel 100 provided in the embodiment of the first aspect of the present application has the following beneficial effects:

1. the folding assembly 30 is arranged, so that the photovoltaic panel 100 can be folded and retracted, thereby reducing space occupation according to needs and improving space utilization rate;

2. the swinging rod 20 and the control assembly 110 are arranged, the swinging rod 20 is controlled to swing through the control assembly 110, so that the photovoltaic panel 100 can move synchronously along with the movement of the sun, the sunlight can always directly irradiate the photovoltaic panel 100, and the power generation efficiency is improved.

Referring to fig. 10 to 13, a second aspect of the embodiment of the present application provides a robot 200 including a chassis 50, a housing 60, a photovoltaic panel 100 provided by the first aspect of the embodiment, a power supply system 70, and an electrical storage system 80.

Referring to fig. 11, 12, chassis 50 is used to provide a fixed basis for housing 60, power supply system 70, and power storage system 80; the housing 60, the power supply system 70 and the power storage system 80 are all connected to the chassis 50, and the housing 60 is covered outside the power supply system 70 and the power storage system 80, i.e. the housing 60 and the chassis 50 together form a containing space, and the power supply system 70 and the power storage system 80 are contained in the containing space.

The support bar 10 of the photovoltaic panel 100 is connected to the housing 60, and the support bar 10 may be directly connected to the chassis 50.

The power supply system 70 is used to power the robot 200, and may, for example, power the drive structure 33, the angle adjustment assembly 40, the control assembly 110, etc.

The electric power storage system 80 is electrically connected with the photovoltaic sub-panel 101, and the electric power storage system 80 is used for storing electric energy generated by the photovoltaic sub-panel 101; the electrical storage system 80 is also electrically connected to the power supply system 70 so that the electrical storage system 80 can supply power to the power supply system 70.

The electric storage system 80 may specifically include a battery pack for storing electric energy; the power storage system 80 may further include a controller, where the light Fu Ziban 101 is electrically connected to the controller, and the controller is electrically connected to the battery pack, where the controller is configured to transmit the dc power generated by the photovoltaic sub-panel 101 to the battery pack, and the controller is also capable of directly supplying power to other dc loads; the power storage system 80 may further include an inverter electrically connected to the controller, the inverter for converting direct current provided by the controller into alternating current for powering the alternating current load.

It can be appreciated that each robot 200 provided in this embodiment can independently realize functions of power generation, power storage, discharging, and the like, and the robot 200 can be used independently or in a small amount and applied to daily life scenes such as a family courtyard, a factory, and the like, and can be used in a large amount and applied to a photovoltaic power plant or other large-scale power generation scenes.

The beneficial effect of robot 200 that this embodiment provided is: the photovoltaic panel 100 is arranged, so that the photovoltaic sub-panel 101 can be folded and retracted, thereby reducing space occupation according to the need and improving the space utilization rate; meanwhile, the photovoltaic panel 100 can synchronously move along with the movement of the sun, so that the sun light can always directly irradiate the light Fu Ziban 101, and the power generation efficiency is improved; the power supply system 70 and the power storage system 80 are provided so that the electric energy output from the light Fu Ziban 101 can be effectively stored and applied to the movement of the robot 200, so that the robot 200 can be used without additional charging.

Referring to fig. 11 to 13, in an embodiment, the robot 200 further includes a universal wheel 51, a suspension assembly 52, a driving wheel 53, a second power source 54, and a control unit.

The universal wheel 51 is provided on a side of the chassis 50 facing away from the housing 60, the universal wheel 51 being provided such that the robot 200 can move in all directions.

The suspension assembly 52 is arranged on the chassis 50, the suspension assembly 52 is used for providing a fixed foundation for the driving wheel 53, and the suspension assembly 52 is also used for buffering vibration of the driving wheel 53, and meanwhile, the driving wheel 53 can adapt to various road conditions, so that the robot 200 can walk stably under various road conditions; the suspension assembly 52 may be a coil spring type non-independent suspension, an air spring type non-independent suspension, a thrust rod type balance suspension, a swing arm type balance suspension or various other suspensions; suspension assembly 52 is preferably an independent suspension.

There are two drive wheels 53, and the two drive wheels 53 are provided at opposite ends of the suspension assembly 52, respectively.

The two second power sources 54 are arranged at the side of the two driving wheels 53 respectively, the two second power sources 54 are arranged on the suspension assembly 52 respectively, and the two second power sources 54 are connected with the two driving wheels 53 respectively so as to drive the two driving wheels 53 to rotate; the second power source 54 may be only one, where one second power source 54 is connected to two driving wheels 53 respectively, specifically may be connected to two driving wheels 53 through a transmission shaft, or may be connected to any one of the two driving wheels 53, and the two driving wheels 53 are connected through a differential, and the second power source 54 may also drive the two driving wheels 53 to rotate in other manners; the second power source 54 may be a motor, or may be any other power source capable of driving the driving wheel 53 to rotate.

Preferably, two second power sources 54 are respectively used for driving two corresponding driving wheels 53 to rotate, the two second power sources 54 work independently, and the output rotation speed of the two second power sources 54 can be controlled to control the robot 200 to walk or steer in a straight line, for example, when the robot 200 is required to walk in a straight line, the output rotation speeds and directions of the two second power sources 54 are the same, and when the robot 200 is required to steer, the two second power sources 54 can output different rotation speeds or the output directions of the two second power sources 54 are different according to the requirement.

The control unit is connected to the chassis 50, and the control unit is connected to the second power source 54 and the power supply system 70, and is capable of obtaining electric energy from the power supply system 70 and controlling the working state of the second power source 54.

In one embodiment, the housing 60 is provided with a discharging contact, one end of which is electrically connected to the power storage system 80, and the other end of which is electrically connected to an external load, so that the power storage system 80 discharges to the external load.

In an embodiment, the robot 200 further includes a navigation system 90, where the navigation system 90 is connected to the chassis 50 and connected to the control unit, and the navigation system 90 is used to collect map information of the position of the robot 200 and construct a three-dimensional map.

Referring to fig. 14, a third aspect of the present application provides a robot control method applied to controlling a robot 200 provided by the second aspect of the embodiment, the robot control method including:

s110: and acquiring the solar altitude and the solar azimuth in real time.

Because the positions of the sun at different times and at different current times are different, and the positions of the sun corresponding to the different positions of the robot 200 are also different, it is necessary to obtain and update the solar altitude and the solar azimuth in real time.

S150: the photovoltaic panel 100 is opened by the folding assembly 30.

After the photovoltaic panel 100 is opened, power generation starts.

S160: the angle of the swing lever 20 with respect to the support lever 10 is adjusted by the angle adjusting assembly 40 according to the solar altitude and solar azimuth.

The robot 200 adjusts the angle of the photovoltaic panel 100 through the angle adjusting assembly 40 according to the parameters of the solar altitude and the solar azimuth, so that the photovoltaic panel 100 can face the sun, and the power generation efficiency is improved.

It will be appreciated that step S160 is repeated in response to changes in solar altitude and solar azimuth to ensure that the photovoltaic panel 100 is facing the sun.

It is understood that S150 may be located before S160 or after S160; preferably, S150 is located before S160, and the swinging rod 20 needs to move along with the change of the position of the sun, which is in a change, so that the efficiency of the photovoltaic panel 100 can be better ensured by putting the photovoltaic panel 100 in the unfolded state and then adjusting the position.

The present embodiment provides a control logic for controlling the photovoltaic panel 100 to move synchronously along with the movement of the sun by the robot 200, so that the photovoltaic panel 100 can always face the sun, so as to ensure higher power generation efficiency.

Referring to fig. 15, in one embodiment, the step S110 includes:

s111: acquiring a local date, a current time and a three-dimensional map and confirming robot coordinates; the step is a parameter acquisition step.

S112: confirming a solar altitude angle and a solar azimuth angle according to the local date, the current time and the robot coordinates; the step is an angle calculation step.

The local date and the current time can be acquired through a network, the preset current time program can be acquired, and the three-dimensional map can be acquired through a preset map program or a network; because the positions of the sun at different times and at different current times are different, and the positions of the sun corresponding to the different positions of the robot 200 are also different, the local date, the current time and the related information of the three-dimensional map are required so as to confirm the solar altitude and the solar azimuth, and meanwhile, the accuracy of the solar altitude and the solar azimuth can be confirmed with the aid of the parameters of the solar tracking sensor 111.

Referring to fig. 16, in an embodiment, after S110, the robot control method further includes:

s170: confirming the solar azimuth according to the local date, the current time and the robot coordinate, and confirming the azimuth of the photovoltaic panel according to the solar azimuth; the step is a posture parameter calculation step.

Since the position of the sun is constantly changing and the robot 200 is not convenient to move along with the real-time position of the sun, when the robot 200 stays at the power generation stay position, it is also necessary to confirm the solar azimuth according to the local date, the current time and the robot coordinates and determine the azimuth of the photovoltaic panel.

S180: adjusting the orientation of the photovoltaic panel 100 by in-situ rotation of the robot 200; the step is a posture adjustment step.

The robot 200 adjusts the azimuth of the photovoltaic panel 100 in a manner of in-situ rotation according to the azimuth of the photovoltaic panel, so that the photovoltaic panel 100 reaches the azimuth of the photovoltaic panel, and the photovoltaic panel 100 is opposite to the sun, and the adjustment of the azimuth of the photovoltaic panel is mainly to adjust the direction of the photovoltaic panel 100, so that the robot 200 does not leave the power generation residence position in the process.

When the position of the sun is in the moment, the photovoltaic panel 100 just can refer to the sun by adjusting the angle of the swinging rod 20 relative to the supporting rod 10 when the sun is in the same plane with the swinging rod 20 and the supporting rod 10, and when the sun is far away from the plane of the swinging rod 20 and the supporting rod 10, the robot 200 can not make the photovoltaic panel 100 directly face the sun by adjusting the angle of the swinging rod 20 relative to the supporting rod 10, at this time, the orientation of the robot 200 needs to be adjusted, and the parameter according to which the orientation of the robot 200 is adjusted is the sun azimuth parameter.

The robot 200 may be rotated in situ by two driving wheels 53, and specifically, the two driving wheels 53 may be rotated in opposite directions at the same rotation speed.

It will be appreciated that S170 may follow S110, or may follow S150 or S160; preferably, after S150, since the robot 200 needs to move along with the sun direction, and the sun direction is in a change, the efficiency of the photovoltaic panel 100 can be better ensured by putting the photovoltaic panel 100 in the unfolded state and then adjusting the position.

The present embodiment provides a method for adjusting the angle and orientation of the photovoltaic panel 100 after the robot 200 reaches the power generation park position, so that the robot 200 can also face the sun at any time while staying at the power generation park position.

Referring to fig. 17, in an embodiment, after S110, the robot control method further includes:

s120: confirming a shadow area according to the solar altitude, the solar azimuth and the three-dimensional map, and confirming a power generation resident position according to the three-dimensional map and the shadow area; this step is a shadow area and current time calculation step.

Because the robot 200 is in the shadow of the object such as the building or the tree, the power generation efficiency of the photovoltaic panel 100 is greatly reduced, the shadow area in the scene where the robot 200 is located needs to be confirmed according to the solar altitude and the solar azimuth combined with the three-dimensional map, and the three-dimensional map has the main functions of providing the altitude and the position information of the fixed object such as the building, the tree, and the like in the scene, confirming the position of the shadow area, and determining the power generation residence position by avoiding the shadow area and combining the solar altitude and the solar azimuth; further, the robot can obtain a plurality of residence positions corresponding to a certain local date and a certain current time period according to the solar altitude, the solar azimuth and the shadow area, and select an optimal residence position from the plurality of residence positions as a power generation residence position.

S130: confirming the power generation residence positions of different time periods according to the change of the local date and the current time, and planning a moving path and moving time; the step is a dwell position calculation step.

Because the positions of the sun at different local dates and different current times are different, the sun altitude angle and the sun azimuth angle also change correspondingly, and the position of the shadow area also changes correspondingly, the S102 is repeated according to the change of the local dates and the change of the current time in the same day to confirm the power generation resident positions of different time periods, a plurality of different power generation resident positions are obtained according to the time periods, then a moving path is determined according to the plurality of different power generation resident positions, and the moving time is determined according to the time periods corresponding to the different power generation resident positions, so that the robot 200 can be positioned at different positions at different time periods, the robot 200 is prevented from falling into the shadow area, and the higher power generation efficiency of the robot 200 is ensured.

S140: controlling the robot 200 to move to a corresponding power generation resident position according to the movement path and movement time; the step is a moving step.

The robot 200 moves according to the movement path and the movement time planned in S103 to ensure that the robot 200 does not fall into a shadow area and has high power generation efficiency; the robot 200 can fold the folding assembly 30 and fold the photovoltaic panel 100 in the moving process, so as to avoid collision light Fu Ziban 101 in the moving process, and also can better ensure the balance of the robot 200, and avoid rollover or other abnormal conditions.

S150: the photovoltaic panel 100 is opened by the folding assembly 30.

Each time the robot 200 reaches a power generation park position, the folding assembly 30 may be controlled to unfold to facilitate the photovoltaic panel 100 and adjust the orientation of the photovoltaic panel 100 via the angle adjustment assembly 40.

It will be appreciated that since S130 obtains multiple power generation resident locations, S140 and S150 may be repeated multiple times.

The present embodiment provides the logic for confirming the power generation residence position and planning the movement path of the robot 200, so that the robot 200 can always be under the sun irradiation and cannot fall into the shadows of buildings, trees or other objects, and meanwhile, the robot 200 can also move along with the position change of the sun, thereby ensuring higher power generation efficiency.

Referring to fig. 18, in an embodiment, after S150, the robot control method further includes:

s190: monitoring the electric quantity of the electric power storage system 80, determining an end time according to the electric quantity of the electric power storage system 80 and the current time, and folding the folding assembly 30 after the end time is reached; the step is an energy storage ending calculation step.

In this step, the robot 200 detects the real-time electric quantity of the electric power storage system 80, and controls the folding assembly 30 to fold after the electric power storage system 80 is full, so as to end the power generation, and the end time is the current time when the electric power storage system 80 is full; in this step, in addition to determining the end time from the electric power of the electric power storage system 80, the robot 200 also determines the end time from the local date, the current time, and the robot coordinates, and the end time is the current time at sunset, and since photovoltaic power generation will not continue after sunset, the robot 200 should end power generation after the end time.

S210: determining a return path according to the three-dimensional map, moving the robot 200 to the side of the target load according to the return path and discharging the electric storage system 80 to the target load; the step is a return step.

In this step, after the energy storage of the robot 200 is completed, the robot 200 can move to the side of the target load according to the return path and discharge to the target load, so as to transfer the electric energy obtained by the photovoltaic power generation to the corresponding target load.

It will be appreciated that S190 is performed at a time subsequent to S150, for example, during S160, S170, S180, S190 is also being performed simultaneously, and after the power storage system 80 is fully charged, the photovoltaic panel 100 is in a folded state, at which time S160, S170, S180 may not be continued.

The present embodiment provides the judgment logic of the robot 200 for the end of power generation and the control logic after the end of power generation, so that the robot 200 can deliver the electric energy obtained by photovoltaic power generation to the corresponding target load.

Referring to fig. 19, in an embodiment, before S110, the robot control method further includes:

s310: presetting tasks, basic parameters and monitoring in real time; the step is a preset step.

The preset tasks include unfolding and folding of the folding assembly 30, movement of the robot 200, in-situ rotation of the robot 200, determination of a movement path, determination of a movement time, determination of an end time, determination of a return path, etc., the preset basic parameters include various parameters of normal operation of the robot 200, such as voltage parameters of the power supply system 70, position parameters of a target load, etc., and the preset real-time monitoring is used to monitor the states of the various components of the robot 200 to avoid abnormality of the robot 200, such as monitoring of the power supply system 70, monitoring of the power storage system 80, etc.

S320: the robot 200 performs self-checking on each component of the robot 200 and obtains self-checking parameters, wherein the self-checking parameters comprise at least one of electric quantity of the electric storage system 80 and robot coordinates; the step is a self-checking step.

The self-checking in this step is used to ensure that the robot 200 can work normally, and the self-checking parameters include at least one of an electric quantity of the electric storage system 80, a robot coordinate, and a solar tracking sensor parameter, where the electric quantity of the electric storage system 80 is used to confirm a current time when the power generation is completed, the robot coordinate is used to assist in determining a solar altitude angle and a solar azimuth angle, the solar tracking sensor parameter is used to assist in determining the solar altitude angle, the solar azimuth angle, and the self-checking parameters may further include other parameters such as a voltage of the power supply system 70.

The present embodiment provides a parameter presetting method and a self-checking method of the robot 200 before the start of power generation, so that the robot 200 can work normally and obtain relevant parameters.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (12)

1. A photovoltaic panel comprising a plurality of photovoltaic sub-panels, wherein the photovoltaic panel further comprises:

a support rod;

the swinging rod is hinged to one end of the supporting rod;

the folding assembly is arranged on the swinging rod and is used for bearing a plurality of lights Fu Ziban, the folding assembly can enable the photovoltaic sub-boards to be sequentially overlapped to enable the photovoltaic boards to be in a folding state, and the folding assembly can enable the photovoltaic sub-boards to be sequentially staggered to enable the photovoltaic boards to be in an unfolding state;

the angle adjusting assembly is connected to the supporting rod and the swinging rod and is used for driving the swinging rod to swing relative to the supporting rod.

2. The photovoltaic panel of claim 1, wherein the folding assembly comprises a plurality of brackets and a driving structure, the brackets are used for bearing at least one light Fu Ziban, the plurality of brackets are sequentially arranged at intervals along the axial direction of the swinging rod, and one end of each bracket is sleeved on the swinging rod; the driving structure is connected to the swinging rod and is used for driving the brackets to rotate around the axial direction of the swinging rod in sequence;

The plurality of brackets comprise a driving bracket, a fixed bracket and a plurality of driven brackets, the plurality of driven brackets are sequentially arranged between the driving bracket and the fixed bracket at intervals along the axial direction of the swinging rod, the driving bracket is connected with the driving structure, and the fixed bracket is fixedly connected with the swinging rod;

traction structures are arranged between the driving support and the driven support, between two adjacent driven supports and between the driven support and the fixed support, the driving support can drive the adjacent driven support to rotate through the traction structures, and the driven support can drive the adjacent other driven support to rotate through the traction structures.

3. The photovoltaic panel of claim 2, wherein the traction structure comprises a limit chute and a limit nail, the limit chute being arranged on the passive bracket and the fixed bracket; the limiting nails are arranged on the driving support and the driven support, and are slidably accommodated in the limiting sliding grooves of the adjacent driven support or the adjacent fixed support.

4. The photovoltaic panel of claim 2, wherein the drive structure comprises a first power source and a transmission structure disposed on the swing rod, the transmission structure being connected to the first power source and the active support.

5. The photovoltaic panel of any of claims 1-4, further comprising:

the control assembly comprises a sun tracking sensor and a main control board which are arranged on the swinging rod, and the control assembly is used for controlling the working state of the angle adjusting assembly.

6. The photovoltaic panel of any of claims 1-4, wherein the angle adjustment assembly comprises a telescoping cylinder and a tie rod, one end of the telescoping cylinder being hinged to the support rod and the other end of the telescoping cylinder being hinged to the tie rod; one end of the pull rod, which is far away from the telescopic cylinder, is hinged to the swing rod.

7. A robot, comprising:

a chassis;

a housing connected to the chassis;

the photovoltaic panel of any one of claims 1-6, the support bar being connected to the housing or the chassis;

the power supply system and the power storage system are both connected to the chassis, the power storage system is electrically connected to the light Fu Ziban, and the power storage system is used for storing electric energy generated by the photovoltaic sub-panel; the power storage system is also electrically connected to the power supply system to supply electric power to the power supply system.

8. A robot control method, applied to the robot according to claim 7, comprising:

acquiring a solar altitude and a solar azimuth in real time;

opening the photovoltaic panel by the folding assembly;

according to the solar altitude and the solar azimuth, adjusting the angle of the swinging rod relative to the supporting rod through the angle adjusting component;

the real-time acquisition of the solar altitude and the solar azimuth comprises:

acquiring a local date, a current time, a three-dimensional map and robot coordinates;

and calculating a solar altitude angle and a solar azimuth angle according to the local date, the current time and the robot coordinates.

9. The robot control method according to claim 8, further comprising, after the acquiring of the solar altitude and the solar azimuth in real time:

confirming a shadow area according to the solar altitude angle, the solar azimuth angle and the three-dimensional map, and analyzing a power generation resident position according to the three-dimensional map and the shadow area;

analyzing the power generation residence positions of different time periods according to the local date and the change of the current time, and planning a moving path and moving time;

And controlling the robot to move to the corresponding power generation resident position according to the moving path and the moving time.

10. The robot control method according to claim 8, further comprising, after the acquiring of the solar altitude and the solar azimuth in real time:

confirming a solar azimuth according to the local date, the current time and the robot coordinate, and confirming a photovoltaic panel azimuth according to the solar azimuth;

the orientation of the photovoltaic panel is adjusted by in-situ rotation of the robot.

11. The robotic control method of claim 8, wherein after the photovoltaic panel is unfolded by the folding assembly, the robotic control method further comprises:

monitoring the electric quantity of the electric storage system, determining an end time according to the electric quantity of the electric storage system and the current time, and folding the photovoltaic panel through the folding assembly after the end time is reached;

and determining a return path according to the three-dimensional map, moving the robot to the side of a target load according to the return path, and discharging the power storage system to the target load.

12. The robot control method of claim 8, wherein prior to the acquiring the solar altitude and the solar azimuth in real time, the robot control method further comprises:

presetting tasks, basic parameters and monitoring in real time;

the robot performs self-checking on each part of the robot and obtains self-checking parameters, wherein the self-checking parameters comprise at least one of electric quantity of the electric storage system and coordinates of the robot.

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