WO2018053984A1

WO2018053984A1 - Path navigation method for robot running on rectangular slope

Info

Publication number: WO2018053984A1
Application number: PCT/CN2017/072763
Authority: WO
Inventors: 彭芳; 周艳荣; 徐建荣
Original assignee: 苏州瑞得恩光能科技有限公司
Priority date: 2016-09-21
Filing date: 2017-01-26
Publication date: 2018-03-29
Also published as: CN106272331B; CN106272331A

Abstract

A path navigation method for a robot running on a rectangular slope, comprising the following steps: setting a corner of a rectangular slope as a starting point of navigation; controlling a robot to run from the starting point of navigation; detecting whether the robot reaches a destination or not; controlling the robot to turn 90 degrees; continuing detection; and controlling the robot to perform U-shaped turning. The path navigation method can scan each corner of a rectangular slope within the shortest time so that the traveling path covers the whole rectangular slope. High working efficiency and a good cleaning effect are achieved.

Description

Path navigation method for robot traveling on rectangular slope

Technical field

The invention relates to the field of robot applications, and in particular to a path navigation method for a robot to travel on a rectangular slope.

Background technique

In the case of declining fossil fuels, solar energy as an emerging renewable energy source has become an important part of human energy use. In the past decade, solar energy application technology has developed rapidly in all countries of the world. A solar panel is a device that converts solar energy directly into electrical energy using photovoltaics that occur under the illumination of semiconductor materials. Solar panels can generate electricity in places where there is sunlight, so solar panels are suitable for a variety of applications, from large power stations to small portable chargers.

The working environment of solar panels can only be outdoor, and the biggest problem affecting their work is not the wind and rain, but the dust accumulated all the year round. Dust or other attachments on the solar panel may affect the transmittance of the panel and impede the photoelectric efficiency, which will seriously affect the efficiency of the panel directly acquiring sunlight, reduce the energy absorption and conversion efficiency of the panel, and reduce the power generation efficiency. In the prior art, the solar panel can only be manually and regularly cleaned up. Due to the large area of the solar panel and the large number of panels used by the large power station, the dust will accumulate repeatedly and need to be repeatedly cleaned; therefore, the labor cost is high. The cleaning efficiency is low and the cleaning effect is poor. In many cases, in order to improve space utilization, solar panels are placed at high places using brackets, which brings greater difficulty and risk to the cleaning work. Many solar panel users can only choose not to clean up in order to reduce the cleaning cost, so they can only be forced to bear the power loss caused by dust. In this way, a new automatic cleaning device is needed to automatically clean the solar panels.

Prior art cleaning robots can only be applied to horizontal grounds and cannot be applied to slope planes such as solar panels. If the existing cleaning robot is used directly on the solar panel, the following problems will result.

(1) The cleaning robot is insufficiently powered, cannot travel freely, and has poor cleaning effect; since the tilt angle of the solar panel is generally between 10 and 40 degrees, the existing cleaning robot cannot travel freely on the slope plane, even if it can barely travel, It will run out of power soon.

(2) The cleaning robot will slide off the solar panel; because the solar panel is relatively smooth, the existing cleaning robot has a relatively small weight and wheel friction coefficient, and the friction is relatively small, and it is difficult to travel, and it is easy to slip.

(3) The cleaning robot cannot travel according to the prescribed route, and the coverage area during travel is small, and it will fall from the edge of the solar panel; the existing cleaning robot is generally set to automatically turn to the obstacle, because there is no obstacle on the solar panel, automatically The traveling cleaning robot can only travel on a single path, and the coverage area during the travel is small, which will inevitably fall from the edge of the solar panel. Existing cleaning robots are vulnerable to travel even if the path is planned in advance The influence of gravity and panel attachments can easily deviate from the path, and it is difficult to ensure straight-line driving; and the cleaning robot itself cannot detect it, and cannot walk through the entire panel, leaving a lot of space for cleaning.

(4) It is difficult to clean the cleaning robot; because the height of the solar panel is relatively high and the area is large, it is difficult to remove the cleaning robot once it is sent. The prior art requires manual removal of the cleaning robot from the site or manual removal of the battery. Then, it is charged, so that the field work cannot be continued for a long time, and since many solar panels are placed at a high place by the bracket, the charging operation is very troublesome and wastes a lot of manpower.

(5) It is difficult to monitor the working state of the cleaning robot. Since the solar panel may be placed at a high position, the staff on the ground cannot monitor the whole process of the working process, even if the cleaning robot fails, stop running or route deviation, the staff It is also impossible to know in time.

Summary of the invention

The object of the present invention is to provide a path navigation method for a robot to travel on a rectangular slope to solve the technical problem that the conventional cleaning robot cannot travel on a slope according to a prescribed route, has a small coverage area during traveling, and is easy to fall from the edge of the slope. .

In order to solve the above problems, the present invention provides a path navigation method for a robot to travel on a rectangular slope, comprising the steps of: step S101) setting a lower left corner of the rectangular slope as a navigation starting point; and step S102) controlling the robot from the location The navigation starting point is traveling straight to the upper left corner of the rectangular slope; step S103) detecting whether the robot travels to the first corner of the rectangular slope; if the robot does not reach the first corner, returning to step S102); If the robot reaches the first corner, the robot is controlled to turn 90 degrees to the right; step S104) controls the robot to travel straight; step S105) detects whether the robot travels to the second corner of the rectangular slope; If the robot does not reach the second corner, return to step S104); if the robot reaches the second corner, control the robot to perform U-turn to the right; step S106) detect whether the robot travels to the location a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the robot Reaching the third corner, detecting whether the robot travels to a fourth corner of the rectangular slope; if the robot does not reach the fourth corner, controlling the robot to travel straight; if the robot reaches the first Four corners, controlling the robot to stop traveling; step S107) detecting whether the robot travels to an edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform U to the left Word S108) detecting whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the robot reaches the third a corner, detecting whether the robot travels to a fourth corner of the rectangular slope; if the robot does not reach the fourth corner, controlling the robot to travel straight; The robot reaches the fourth corner, controlling the robot to stop traveling; step S109) detecting whether the robot travels to an edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the The robot makes a U-turn to the right; returning to step S106).

Further, detecting whether the robot travels to a corner or an edge of the rectangular slope comprises the following steps: Step S1011) respectively setting at a left front portion, a right front portion, a left rear portion, and a left rear portion of the robot a distance sensor extending to the outside of the robot, the distance sensor facing the solar panel; step S1012) being four distance sensor numbers in sequence, the left front part, the right front part, and the left rear side of the robot The distance sensors provided in the left portion and the left rear portion are respectively defined as a sensor N1, a sensor N2, a sensor N3, and a sensor N4; and the step S1013) the robot determines a position of the robot according to a sensor signal acquired at any one time; when the robot When the sensor N3 signal and the sensor N4 signal are simultaneously acquired, it is determined that the robot reaches an edge of the rectangular slope; when the robot can only acquire the sensor N4 signal, it is determined that the robot reaches the first corner of the rectangular slope Or a second corner; when the robot can only acquire the sensor N3 signal, the machine is determined The person reaches the third or fourth corner of the rectangular slope.

Further, controlling the linear driving of the robot specifically includes the following steps: step S1021) determining whether a robot travels along a preset straight path; if the robot deviates from a preset straight path, performing step S1022); step S1022) Controlling the robot to deflect toward the Tm direction during running; step S1023) controlling the robot to travel straight along the Tm direction on the slope plane; returning to step S1021).

An advantage of the present invention is that the present invention provides a path navigation method for a robot traveling on a rectangular slope, which enables the robot to complete each corner of the rectangular slope in the shortest time, and achieve full coverage of the rectangular path by the traveling path, neither It will slip off the edge or corner of the rectangular slope, and there will be no route offset and some omissions. The solar panel cleaning robot adopts the path navigation method of the invention, can drive according to the optimized path of the optimal scheme, can cover all the space of the panel without repetition, has high work efficiency and good cleaning effect.

DRAWINGS

1 is a schematic view showing the overall appearance of a cleaning robot according to an embodiment of the present invention;

2 is a schematic structural view of an interior of a cleaning robot according to an embodiment of the present invention;

3 is a schematic exploded view of a cleaning robot according to an embodiment of the present invention;

4 is a schematic view showing the overall structure of a power system according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of the power system after removing the crawler casing according to an embodiment of the present invention; FIG.

6 is a schematic structural view of a first crawler tensioning device according to an embodiment of the present invention;

7 is a schematic structural view of the first crawler tensioning device after removing the track side plate according to the embodiment of the present invention;

8 is a schematic structural view of the first crawler tensioning device after removing the crawler belt according to an embodiment of the present invention;

9 is a schematic structural view of a second crawler tensioning device after removing a track side panel according to an embodiment of the present invention;

10 is a schematic structural view of a third crawler tensioning device after removing a track side plate according to an embodiment of the present invention;

11 is a structural block diagram of a control system according to an embodiment of the present invention;

12 is a schematic diagram of establishing a three-dimensional coordinate system on a robot according to an embodiment of the present invention;

13 is a schematic diagram of a driving path of a robot traveling on a rectangular slope using a first path navigation method;

Figure 14 is a schematic view showing another driving path of the robot running on a rectangular slope by the first path navigation method;

15 is a schematic diagram of a driving path of a robot traveling on a rectangular slope by using a second path navigation method;

Figure 16 is a schematic view showing another driving path of the robot running on a rectangular slope by the second path navigation method;

17 is a schematic diagram of a driving path of a robot traveling on a rectangular slope by using a third path navigation method;

18 is a schematic diagram of another driving path for a robot to travel on a rectangular slope using a third path navigation method;

19 is a schematic diagram of a driving path of a robot traveling on a rectangular slope using a fourth path navigation method;

20 is a schematic diagram of another travel path in which the robot travels on a rectangular slope using the fourth path navigation method.

The part numbers in the figure are as follows:

100 solar panel cleaning robot / cleaning robot / robot, 300 slope plane, 400 servers;

1 car body, 2 cleaning device, 3 power system, 4 control system, 5 power system; 11 body;

31 left front wheel, 32 right front wheel, 33 left rear wheel, 34 right rear wheel, 35, left drive motor, 36 right drive motor, 37 track, 38 wheel hub teeth, 39 track tensioning device;

41 data acquisition unit, 42 processor, 43 storage unit, 44 alarm unit, 45 wireless communication unit; 51 battery box;

311 left front hub, 312 left front axle, 321 right front hub, 322 right front axle, 331 left rear hub, 341 right rear hub;

371 track shell, 372 track internal teeth, 373 anti-skid block, 374 upper drive belt, 375 lower drive belt;

391 upper tensioning part, 392 lower pressing part, 393 elastic supporting part, 394 track side plate, 395 track top plate, 396 waist hole, 397 mounting shaft, 398 gear bracket;

411 acceleration sensor, 412 magnetic sensor, 413 distance sensor, 414 counter, 415 image sensor;

3911 "V" frame, 3912 tensioning transmission wheel, 3913 tensioning gear, 3914 "V" shaped plate, 3915 beam, 3916 cylindrical gear, 3917 cylindrical linkage;

3921 tensioning plate, 3931 "∧" shaped elastic parts;

3971 gear mounting shaft, 3972 transmission wheel mounting shaft.

detailed description

BRIEF DESCRIPTION OF THE DRAWINGS A preferred embodiment of the present invention will be described with reference to the accompanying drawings, which illustrate that the invention can be practiced by those skilled in the art, and the technical details thereof will be more clearly understood and understood. The invention may be embodied in many different forms of embodiments, and the scope of the invention is not limited to the embodiments disclosed herein.

In the drawings, structurally identical components are denoted by the same reference numerals, and structural or functionally similar components are denoted by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the invention does not limit the size and thickness of each component. In order to make the illustration clearer, some parts of the drawing appropriately exaggerate the thickness of the parts.

The directional terms mentioned in the present invention, such as "upper", "lower", "before", "after", "left", "right", "inside", "outside", "side", etc., are only attached The illustrations are intended to be illustrative of the invention and are not intended to limit the scope of the invention.

When a component is described as being "on" another component, the component can be placed directly on the other component; an intermediate component can also be present, the component being placed on the intermediate component, And the intermediate part is placed on another part. When a component is described as "mounted to" or "connected to" another component, it can be understood as "directly" or "connected", or a component is "mounted to" or "connected" through an intermediate component. To "another part.

As shown in FIG. 1 to FIG. 3, the present embodiment provides a solar panel cleaning robot 100 (hereinafter referred to as a cleaning robot or a robot), which includes a vehicle body 1, and the vehicle body 1 can be driven on at least one solar panel; A cleaning device 2, a power system 3, a control system 4, and a power system 5 are provided internally or externally.

The cleaning device 2 is used for cleaning the solar panel during the traveling of the vehicle body; the power system 3 is used for adjusting the traveling direction and the traveling speed of the vehicle body 1 on the solar panel, and controlling the driving, stopping or turning of the vehicle body 1; the control system 4 is respectively connected The power system 3 and the cleaning device 2 are used to issue various control signals to the power system 3 and the cleaning device 2. The power system 5 is connected to the power system 3, the cleaning device 2, and the control system 4, respectively, for supplying power to the power system 3, the cleaning device 2, and the control system 4.

In the normal operation of the solar panel cleaning robot 100 of the present embodiment, when the power system 5 is activated, the control system 4 issues at least one travel control command and at least one sweep control command, and the power system 3 controls the vehicle according to the travel control command. The body 1 travels along a pre-planned path; at the same time, the cleaning device 2 activates the cleaning device 2 according to the cleaning control command to start cleaning the solar panel. During the running of the vehicle body 1, the control system 4 is connected to the power system 3 Issue a plurality of travel control commands, such as a correction command, a turn command, a U-turn command, and the like, thereby commanding the vehicle body 1 to return to the original route in the case where the straight travel path is deflected, that is, to perform the correction processing; or Turning under certain conditions or at a certain position or performing a U-turn (turning head) allows the vehicle body 1 to travel according to an optimized path planned in advance. The specific navigation method, the calibration method, the method of controlling the turning of the vehicle body or the U-turn (turning head) method are described in detail below. During the entire driving process, regardless of the manner of travel of the vehicle body 1, such as straight, deflected, offset, turning or turning, the cleaning device 2 is always in operation. When the control system 4 issues a travel control command to stop traveling based on certain operating parameters (such as all planned paths are completed or the power system 5 is insufficient), the vehicle body 1 stops traveling; at the same time, the control system 4 issues a cleaning control command. Turn off the cleaning device 2 and stop cleaning.

As shown in FIG. 4 and FIG. 5, in the embodiment, the power system 3 is disposed at the bottom of the vehicle body 1 for driving the vehicle body 1 to travel, including a left front wheel 31, a right front wheel 32, and a left rear. The wheel 33, a right rear wheel 34, a left drive motor 35, a right drive motor 36 and two tracks 37.

The left front wheel 31 is mounted on the left side of the front portion of the bottom surface of the vehicle body, and includes a left front wheel hub 311 and a left front wheel axle 312. The left front wheel axle 312 is disposed at the center of the left front hub 311; the right front wheel 32 is mounted at the bottom of the vehicle body. The right side of the front portion includes a right front hub 321 and a right front axle 322, and the right front axle 322 is disposed at the center of the right front hub 321; the left rear wheel 33 is mounted to the left side of the rear of the vehicle body bottom surface, including a left rear hub 331 and a left rear axle 332 (not shown), the left rear hub 331 and the left front hub 311 are disposed on the same straight line, the left rear axle is disposed at the center of the left rear hub 331; the right rear wheel 34 is mounted on the vehicle The right side of the rear portion of the bottom surface of the body includes a right rear hub 341 and a right rear wheel axle (not shown). The right rear hub 341 and the right front hub 321 are disposed on the same straight line; the right rear axle is disposed on the right rear hub 341. Center. The right rear axle is directly coupled or coupled to the left rear axle by a transmission (not shown). The left drive motor 35 and the right drive motor 36 are fixedly coupled to the vehicle body 1 by a fixing device, connected to the power system 5 through at least one wire, and connected to the control system 4 through at least one signal line. The left drive motor 35 is directly connected or connected to the left front axle 312 via a transmission (not shown), and the right drive motor 36 is directly connected or connected to the right front axle 322 via a transmission (not shown). The two crawler belts 37 are each a flexible link, wherein one crawler belt 37 is wrapped around the annular front side wall of the left front hub 311 and the left rear hub 331; the other crawler belt 37 is wrapped around the annular side of the right front hub 321 and the right rear hub 341. Outside the wall. Each crawler belt 37 is provided with a crawler outer casing 371 for protecting the crawler belt and the hub to prevent debris from entering the crawler belt or the hub and affecting the normal running of the vehicle body 1.

In this embodiment, the control system 4 sends at least one travel control signal to the left drive motor 35 and the right drive motor 36 according to the optimized path planned in advance, so that the left drive motor 35 and the right drive motor 36 synchronously adjust the left front wheel 31 and the right front. The rotation speed and the rotation direction of the wheel 32, thereby adjusting the traveling direction and the traveling speed of the vehicle body 1, so that the vehicle body can be straight, offset, 90 degree turn, U-turn (turn head) and other actions.

When the vehicle body is required to advance linearly, the control system 4 simultaneously issues a linear travel control command to the left drive motor 35 and the right drive motor 36, and the control command includes the same motor speed (for example, the rotational speeds of the left drive motor and the right drive motor are both 60 rev / min) and the direction of rotation of the drive motor shaft (such as the left drive motor clockwise rotation, the right drive motor counterclockwise rotation), this will drive the left front wheel 31, the right front wheel 32 synchronously forward, left rear wheel 33. The right rear wheel 34 is a driven wheel, and is also rotated forward in synchronization with the left front wheel 31 and the right front wheel 32 under the driving of the crawler belt 37, so that the entire vehicle body 1 advances.

When the vehicle body 1 is required to be deflected to the right, the control system 4 simultaneously issues a calibration travel control command to the left drive motor 35 and the right drive motor 36, and the motor speed in the control command received by the left drive motor 35 is higher than that of the right drive motor 36. The motor speed in the received control command is too large, and the difference in the speed depends on the deviation angle that needs to be adjusted. The smaller the deviation angle, the smaller the speed difference. Similarly, when the vehicle body 1 is required to be deflected to the left, the motor speed in the control command received by the left drive motor 35 is smaller than the motor speed in the control command received by the right drive motor 36. When the vehicle body 1 returns to the original preset traveling direction, the control system 4 re-issues the straight line travel control command, and the rotational speeds of the left drive motor 35 and the right drive motor 36 become the same again, so that the vehicle body 1 continues to travel straight.

When the vehicle body is required to make a 90-degree turn, the control system 4 calculates the rotation speed and the rotation direction of the left drive motor 35 and the right drive motor 36 according to the preset turning radius. If the turning radius is large, the driving direction of the driving motor can be Conversely (one clockwise, one counterclockwise), the left front wheel 31 and the right front wheel 32 rotate synchronously forward, or set to one wheel to stop rotating, thereby achieving the effect of turning in the middle; if the turning radius is small or turning in place The rotation directions of the left driving motor 35 and the right driving motor 36 may be designed to be the same, either clockwise or counterclockwise, such that the left front wheel 31 and the right front wheel 32 will rotate forward and backward. One side of the vehicle body 1 is advanced, and the other side is retracted, thereby forming an effect of turning a small radius or turning in place.

When the vehicle body is required to perform U-turn (also called U-turn), the vehicle body needs to travel to the lane adjacent to the original lane after a 180-degree turn; at this time, there is a technical solution of one-time rotation or phased rotation. The control system 4 calculates the rotational speed and the rotational direction of the left drive motor 35 and the right drive motor 36 according to the magnitude of the preset turning radius. In the one-time turning scheme, the turning radius is equivalent to half of the width of the vehicle body, and the front wheel on the inside of the turning stops rotating or rotates at a very slow speed (if the U-turn is leftward, the left front wheel stops rotating; When the U-turn is performed right, the right front wheel stops rotating. The front wheel on the outside of the turn rotates forward rapidly to realize the U-turn to the left or right. In the scheme of the phased revolving, different schemes can be calculated according to the specific situation. In this embodiment, the following scheme is preferred: the vehicle body 1 is first controlled to make a 90 degree turn to the left or right in the original position, and then the vehicle body is controlled to move forward. Drive a distance of the width of the car body, and finally control the car body to make a 90-degree turn to the left or right in the original position, which can realize the U-turn to the left or right, and just after the U-turn In the lane adjacent to the previous lane, the space in which the robot of the embodiment travels can achieve a non-repetitive, dead angle-free effect.

The power system 3 further includes at least one hub gear teeth 38 uniformly disposed on the outer side surfaces of the left side of the left front hub 311, the left rear hub 331, the right front hub 321, and the right rear hub 341; and at least one crawler inner tooth 372 disposed uniformly The inner side wall surface of the crawler belt 37, the crawler inner teeth 372 are engaged with the hub gear teeth 38, ensuring that the track 37 can be engaged with the two hubs for normal use when the two

front wheels

31, 32 are rotated.

Since the solar panel is relatively smooth and has a certain inclination, the cleaning robot body is liable to slip during running. To solve this problem, as shown in FIG. 4, the power system 3 further includes at least one anti-slip block 373 protruding from the outer side walls of the two crawler belts 37, and the anti-slip blocks 373 can be arranged in an ordered array, evenly distributed over the entire crawler belt. 37. The vehicle body 1 of the present embodiment adopts a crawler type structure, and an anti-slip block 373 is attached to the outer wall of the crawler belt in order to increase the friction coefficient, enhance the grip force, and prevent the vehicle body 1 from slipping during travel. Similarly, at least one non-slip pattern (not shown) may be disposed on the crawler belt 37 of the embodiment, and is recessed on the outer side walls of the two crawler belts, and is evenly distributed on the entire crawler belt, and the effect is the same as that of the anti-slip block.

In this embodiment, the technical effect of the power system 3 is that the crawler and the anti-skid block structure enable the body of the cleaning robot to move freely on the solar panel without slipping; the left and right front wheels are separately driven by the dual motors, and the vehicle body can be The precise travel control allows the vehicle body to flexibly adjust the direction of travel and achieve in-situ turns as needed, maximizing the coverage of the travel path.

As shown in Figures 4 and 5, the powertrain 3 further includes two track tensioning devices 39, each of which is disposed within a track 37. After the track is installed, it has a certain degree of slack, so the flexible link needs to be tensioned to ensure that the track can advance normally. In the prior art, an inducing wheel is installed in front of the crawler belt, a separating mechanism and two scroll bars are arranged on the inducing wheel, and tensioning is achieved by adjusting the separating mechanism and the worm. The mode and structure of this adjustment is cumbersome and can only be adjusted once and can not be adjusted in real time during the crawler operation.

The present embodiment provides the following three kinds of crawler tensioning devices. As shown in FIGS. 6-8, the first crawler tensioning device 39 includes an upper tensioning portion 391, a lower pressing portion 392, and an elastic supporting portion 393.

The track 37 is a flexible link with evenly distributed track internal teeth 372 on its inner side. The track 37 includes an upper belt 374 and a lower belt 375; the upper belt 374 is the upper portion of the track 37, the lower belt 375 is the lower portion of the track 37, and the upper surface of the upper belt 374 and the upper surface of the lower belt 375 are provided with at least one track inner tooth 372. .

The upper end of the upper tensioning portion 391 is tangentially or meshed with the lower surface of the upper belt 374 for tensioning the upper belt 374. During the operation of the track, the upper tensioning portion 391 is slidably or rollingly coupled to the upper belt 374. Lower pressing portion lower end and lower driving belt 375 The upper surface is tangent to press the lower belt 375; one end of the elastic support portion 393 is connected to the upper tension portion 391, and the other end is connected to the lower pressing portion 392 for supporting the upper tension portion and the lower portion Pressing part.

As shown in FIG. 6, the track tensioning device 39 may include two track side plates 394 respectively disposed on both sides of the track 37, and the two track side plates 394 may be connected together by a track top plate 395 to form an integrated track. The outer casing 371, the crawler outer casing 371 is fixedly coupled to the axle of the vehicle body 1 by at least one bolt. At least one vertical waist hole 396 is provided in the upper portion of each track side panel 394. The track tensioning device 39 further includes at least one mounting shaft 397, the two ends of which are vertically slidably disposed in the two opposite waist holes 396, and the two waist holes 396 are respectively located on the two track side plates 394. The mounting shaft 397 and the components mounted on the mounting shaft 397 can be moved up and down within a range limited by the waist hole 396. The track tensioning device 39 may further include only one track side plate 394 disposed on the outer side of the robot crawler belt 37; the upper portion of the track side plate is provided with at least one waist hole of a vertical type, and the mounting shaft 397 has only one end sliding up and down. In a waist hole 396. In the present embodiment, it is preferable to provide three waist-shaped holes in one crawler side plate, and the three waist-shaped holes are arranged in a "pin" shape.

The mounting shaft 397 includes at least one gear mounting shaft 3971 and at least one transmission wheel mounting shaft 3972; this embodiment preferably has one gear mounting shaft 3971 and two transmission wheel mounting shafts, and the gear mounting shaft 3971 and the two transmission wheel mounting shafts 3972 are " The goods are arranged in a glyph. The upper tensioning portion 391 includes a "V" shaped frame 3911, at least one tight driving wheel 3912, and at least one tensioning gear 3913. In this embodiment, a tensioning gear 3913 and two tensioning transmission wheels 3912 are preferred, and the tensioning gear is tensioned. The 3913 and the two tensioning transmission wheels 312 are arranged in a "pin" shape.

The two ends of the upper portion of the "V" frame 3911 are respectively provided with a transmission wheel mounting shaft 3972; the "V" frame 3911 includes two "V" shaped flat plates 3914 and two beams 3915 which are disposed in parallel with each other, and the ends of each of the beams 3915 They are fixedly connected to two "V" shaped flat plates 3914, respectively; the drive wheel mounting shaft 3972 is perpendicular to the "V" shaped flat plate 3914. The gear mounting shaft 3971 is disposed above the "V" frame 3911, opposite the center of the two transmission wheel mounting shafts 3972.

The tensioning transmission wheel 3912 is mounted to the transmission wheel mounting shaft 3972 via a rolling bearing (not shown); each of the tightening gears is mounted to a gear mounting shaft 3971 through a rolling bearing (not shown), the upper end and the upper end thereof The lower surface of the belt 374 is engaged.

Two tensioning transmission wheels 3912 are disposed below both sides of the tensioning gear 3913. The tensioning transmission wheel 3912 is tangential or meshed with the tensioning gear 3913, and the two can realize the transmission; the tensioning gear 3913 and the tensioning transmission wheel 3912 can have a gear surface or a gearless surface, and if there is a gear surface, The two mesh, if there is no gear surface, the two are tangent.

In this embodiment, the tensioning gear 3913 is a double spur gear, specifically including two cylindrical gears 3916 and a cylindrical linkage portion 3917. Two cylindrical gears 3916 are meshed with the lower surface of the upper transmission belt 374; the cylindrical linkage portion 3917 is disposed between the two spur gears 3916; the two spur gears 3916 have the same diameter; the linkage portion 3917 is smaller in diameter than the spur gear The diameter of the 3916, each of the tight drive wheels 3912 is tangent to the linkage of the tensioning gear 3913.

The lower pressing portion 392 is at least one tensioning plate 3921, preferably two, and the tensioning plate 3921 is tangent to the upper surface of the lower belt 375; the elastic supporting portion 393 includes a "∧"-shaped elastic member 3931 at an upper corner thereof. It is connected to the lower end of the upper pressing portion 391, that is, the corner of the lower portion of the "V" shaped frame 3911; the lower ends of the lower portion are respectively connected to one tensioning plate 3921.

An arc-shaped hole is formed at a corner of the lower end of the "V"-shaped frame 3911, and an upper corner of the "∧"-shaped elastic member 3931 is half-rounded; an upper portion of the "∧"-shaped elastic member 3931 having a half-rounded corner is connected thereto. Inside the curved hole. Two ends of the lower portion of the "∧"-shaped elastic member 3931 are respectively connected with a circular shackle, which are respectively connected to the upper surfaces of the two tensioning pressing plates 3921; specifically, a groove is formed on the upper surface of each pressing plate 3921, and is concave. The slot is provided with a pressing plate 3921 connecting shafts, and each circular shackle is correspondingly connected to a connecting plate 3921 connecting shaft.

In the operation of the crawler belt of the embodiment, since the crawler belt 37 is a flexible link, the inner teeth of the inner surface of the crawler belt mesh with the front and rear side walls of the hub, and the tensioning gear 3913 also meshes with the lower surface of the upper transmission belt 374. The crawler belt 37 When rolling forward, the tensioning gear 3913 is driven to rotate.

Before the above components are assembled together, the "∧"-shaped elastic member 3931 has a small opening angle without deformation; after assembling the above-mentioned components, the "∧"-shaped elastic member is deformed, and the angle of opening is opened. Increased so that the track 37 is in tension. At this time, the "∧"-shaped elastic member has a tendency to restore the original shape (the state in which the opening angle is small).

When the crawler belt with the hub moves back and forth, the crawler belt 37 acts on the tensioning gear 3913 to drive the tensioning gear 3913 to rotate, which is equivalent to the force of the crawler belt 3931, which generates a downward component force and pushes the tensioning gear 3913. Moving downward along the waist hole 396, at this time, the tensioning transmission wheel 3912 is tangent to the tensioning gear 3913, and is moved downward by the action of the tensioning gear 3913 to further compress the "∧"-shaped elastic member 3931. The opening angle of the "∧"-shaped elastic member 3931 continues to increase, and the deformation of the "∧"-shaped elastic member 3931 is increased, and the generated elastic force is further increased.

When the track is separated from the tensioning gear 3913, or the tensioning gear 3913 is separated from the transmission wheel, the "∧"-shaped elastic member 3931 releases a portion of the compressed elastic potential energy, the opening angle becomes small, and the track 37 is again tensioned. In such a reciprocating cycle, according to the moving state of the crawler belt 37, the elastic supporting portion 393 can adjust the tensioning force in real time, reducing the rigid friction between the components, and contributing to enhancing the service life of the component.

As shown in FIG. 9, the present embodiment further provides a second type of crawler tensioning device, the majority of which is the same as the first type of crawler device, and the distinguishing feature is that in the second crawler tensioning device, the mounting shaft is only The at least one gear mounting shaft 3971 is included without the drive wheel mounting shaft 3972, preferably two parallel-arranged gear mounting shafts 3971. The upper tensioning portion 391 includes a "V" shaped frame and at least one tensioning gear 3913. In this embodiment, two tensioning gears 3913 are preferred, and the two tensioning gears 3913 are arranged in a line. The two ends of the upper part of the "V" frame 3911 are respectively provided with a gear mounting shaft 3971, gear safety The mounting shaft 3971 is perpendicular to the "V" shaped flat plate 3914. The lower pressing portion 392 is at least one pressing plate 3921 which is tangent to the upper surface of the lower driving belt 375. The elastic support portion 393 is a spring support composed of a spring or a plurality of springs, and may also be a rubber pad, one end of which is connected to a corner of the lower portion of the "V" shaped frame 3911, and the other end of which is connected to the tensioning platen 3921. The second crawler tensioning device has a relatively simple structure and a low cost, but the tensioning effect is slightly poor, and the material of the elastic supporting portion 393 is required to be high; the working principle is similar to that of the first type of crawler tensioning device, and will not be described herein. .

As shown in FIG. 10, the third embodiment of the present invention provides a third type of crawler tensioning device. Most of the technical solutions are the same as the second type of crawler device. The distinguishing feature is that the upper tensioning portion 391 includes at least one pinch gear 3913. Preferably, one of each of the pinion gears 3913 is mounted to a gear mounting shaft 3971 via a rolling bearing; the third type of track tensioning device further includes a gear carrier 398 for replacing the "V" frame with a gear mounted on the upper end thereof. The shaft 3971 is mounted, and its lower end is coupled to the elastic support portion 393. The lower pressing portion 392 is at least one pressing plate 3921. The elastic supporting portion 393 is a spring or a plurality of spring spring brackets, and may also be a rubber pad. One end is connected to the lower end of the gear bracket 398, and the other end is connected to the sheet. Press the plate 3921. The third crawler tensioning device has a relatively simple structure and a low cost, but the tensioning effect is slightly poor, and the material requirements of the elastic supporting portion 393 and the gear bracket 398 are relatively high; the working principle is similar to that of the second crawler tensioning device. I will not repeat them here.

In this embodiment, the technical effect of the crawler tensioning device is to adopt a "sliding assembly design", that is, an elastic support portion 393 is installed between the upper tensioning portion 391 and the lower pressing portion 392 through the waist hole. Realizing the up-and-down sliding of the tensioning device has achieved the purpose of real-time adjustment; this adjustment is a flexible adjustment, which is a real-time adjustment according to the operation of the crawler belt itself, which can improve the wear of the rigidly adjusted components and reduce the friction between the components. Increase the service life of the track; the adjusted track can adapt to the road surface in time, and the robot with the track tensioning device can achieve the purpose of power saving; and the structure is simple and the assembly is convenient.

As shown in FIG. 11, in the embodiment, the control system 4 includes a data collection unit 41, a processor 42, and at least one storage unit 43. The data collecting unit 41 includes a plurality of sensors for collecting at least one operating parameter during the traveling of the vehicle body 1; the processor 42 is connected to the data collecting unit 41, and sends at least one traveling control command to the power system 3 according to the working parameter. At least one cleaning control command is issued to the cleaning device 2 according to the operating parameter. The storage unit 43 is connected to the processor 42 for storing the operating parameters of the vehicle body 1 traveling and other parameters calculated or set in advance. The working parameters include real-time acceleration data of the vehicle body 1, real-time traveling direction data, real-time liquid level data of the liquid distribution container, distance between each distance sensor and the solar panel, and images in front of the vehicle body. Other parameters pre-calculated or set include various work data preset by the worker, such as a pre-calculated and planned cleaning robot travel path (optimized path), and a liquid level data alarm threshold in the liquid dispensing container 25 (when the threshold is reached) , alarm unit alarm), liquid level Data shutdown threshold (when this threshold is reached, pump 28 stops running), and so on.

The staff pre-records the planned optimization path into the control system 4 to provide path navigation for the cleaning robot body. The control system 4 performs calculation and planning according to the optimized path, and will start, when to stop, and when to go straight. Control information such as when driving, when to turn 90 degrees to the left or right, when to turn left or right 90 degrees, and send it to the power system in various control commands to control the vehicle body while traveling. action.

In the vehicle body control technology, how to determine whether the car body is traveling straight on the slope plane, how to control the car body to travel straight on the slope plane is the most basic problem. If the car body lacks supervision during straight running, once the car body is If some factors (such as uneven road surface, obstacles on the road surface, etc.) are deflected, the phenomenon of getting more and more biased will occur. In the present invention, the robot will deviate from the existing navigation path and cannot walk in the shortest time. Throughout the entire slope plane. In this embodiment, after the cleaning robot operation is completed, there are still many places on the solar panel that are not cleaned up in time.

In order to solve the technical problem of how to judge whether the robot of the embodiment is traveling straight on a slope, the present embodiment provides the following technical solutions.

In the control system 4, the data acquisition unit 41 includes at least one acceleration sensor 411 for acquiring acceleration data of the robot 100 (or the vehicle body 1) in real time; the acceleration sensor 411 is connected to the processor 42 to transmit the acceleration data of the vehicle body 1 To the processor 42, the processor 42 analyzes the dynamic acceleration data, and can analyze the direction of the force and the direction of travel of the vehicle body during the running of the vehicle body. The processor 42 establishes a three-dimensional coordinate system of the acceleration data of the robot 100 and decomposes the calculation, defines a traveling direction of the robot 100 as a positive direction of the Y-axis, and defines a direction perpendicular to the plane of the slope as a Z-axis direction; the X-axis and the Y-axis The plane in which the shaft lies is parallel to the plane of the slope. According to the vector of the acceleration data in the X-axis direction, it is determined whether the vehicle body 1 is deviated to the left or to the right. If a deviation occurs, the processor issues at least one direction adjustment command to the power system 3, so that the vehicle body 1 returns to its original position. On the straight line route; if there is no deviation, the processor 42 determines that the vehicle body 1 is traveling straight.

Further, in order to ensure the accuracy of the straight-line driving judgment, in addition to the determination by the acceleration sensor, the magnetic sensor technology may be used to determine that the acceleration sensor finds a deviation from the route, and the determination is again performed, that is, the magnetic sensor secondary determination. To this end, in the control system 4, the data acquisition unit 41 may further include a magnetic sensor 412 coupled to the processor 42, which measures the magnetic field strength to measure physical parameters such as current, position, direction, and the like. In this embodiment, the magnetic sensor 412 is configured to collect the traveling direction data in real time, and compare it with the standard traveling direction preset according to the optimized path data to determine whether the vehicle body is traveling straight or not, so that the vehicle body is traveling straight. More precise.

In order to solve the technical problem of determining whether the solar panel cleaning robot (hereinafter referred to as the robot) according to the embodiment is a straight-line driving, the present embodiment provides a method for determining the straight-line driving of the cleaning robot 100 on the slope plane 300, because the solar panel It is a slope plane, so this determination method can be used to determine whether the solar panel cleaning robot is traveling straight.

Step S1) As shown in FIG. 12, a three-dimensional coordinate system is established on the robot, and the traveling direction of the robot is defined as a positive direction of the Y-axis, and a direction perpendicular to the plane of the slope is defined as a Z-axis direction; the X-axis and The plane in which the Y axis is located is parallel to the plane of the slope.

Step S2) defines standard _deviation vectors g _xs0 , g _ys0 , g _{zs0 of the} gravitational acceleration g in three directions of the three-dimensional coordinate system when the traveling direction of the robot is Ts.

Step S3) generating a standard direction parameter library; specifically comprising the steps of: step S31) controlling the robot to perform a uniform circular motion along a predetermined circular path on the slope plane, and the angular velocity of the uniform circular motion is 0.1 to 1.0 degrees / second; step S32) of the robot in a circular motion, the direction of separation of at least a set of standard parameter every predetermined time t ₀ and time acquisition record, the time interval t ₀ 0.1 to 5.0 seconds; Each set of standard direction parameters includes a traveling direction Ts of the robot and standard component vectors g _xs0 , g _ys0 , g _{zs0 corresponding to the} traveling direction; and step S33) generating a standard direction parameter library according to at least one set of standard direction parameters . Taking the angular velocity of 0.1 degree/second and the acquisition time interval t ₀ =1 seconds as an example, the robot 100 completes a uniform circular motion on the slope plane 300, which takes about 3600 seconds, and collects the traveling direction Ts of the robot every 1 second and the corresponding The acceleration standard is divided into vectors g _xs0 , g _ys0 , g _zs0 , so that 3600 sets of parameters in different directions can be obtained and recorded as 3600 sets of standard direction parameters.

Step S4) controlling the robot to travel straight in any direction Tm along the predetermined straight line radial direction on the slope plane.

Step S5) _Retrieving the standard component vectors g _xm0 , g _ym0 , g _zm0 data corresponding to the traveling direction Tm from the standard direction parameter library.

Step S6) every constant time interval t a set of real time acquisition direction parameter, said direction parameter comprises real gravitational acceleration vector g g _XM1 real points in the direction of the three-dimensional coordinate _{_system,} g ym1, g zm1, the The time interval t is 0.1-1.0 seconds.

Vector difference divided step S7) is calculated gravitational acceleration vector g and the real points in the standard X-axis direction of the sub-vector _g _xd = g _xm1 -g xm0.

Step S8) determining whether the robot is traveling along a preset straight path; when g _xd is equal to 0, determining that the robot travels along a preset straight path, returning to step S6); when g _{xd is} not equal to 0, It is determined that the robot deviates from a preset straight path.

Since the gravitational acceleration g of the robot 100 on the slope plane 300 is a constant value, when the robot 100 is operating on the slope plane 300, the traveling direction Ts and the directional acceleration component vector data g _xs , g _ys , g _zs should be standard The standard direction parameters in the database are consistent. In this embodiment, determining whether the robot is traveling straight is essentially determining whether the robot has a slight deviation to the left or right with respect to the straight travel route, and therefore only needs to determine the real-time score of the gravitational acceleration g in the X-axis direction. standard score vector and the vector is identical to the same as there is no deviation occurs deviated from different, further, may _g _xd = g _xm1 -g xm0 is positive or negative is judged to deviate to the left or to the vector difference according to points Deviate to the right.

Further, the embodiment further provides another method for determining the straight-line travel of the robot on the slope plane. After determining that the robot deviates from the preset straight path, the step S8) may further include the following steps: step S9) using a magnetic The sensor acquires the real-time traveling direction Tn; step S10) compares the real-time traveling direction Tn with the traveling direction Tm, and if the two agree, the robot is determined to travel along a preset straight path, and returns to step S6); Inconsistent, it is determined that the robot deviates from a preset straight path. In the case where the previous determination of the robot deviates from the straight path, the second determination is made to avoid an accident, so that the judgment result is more accurate.

After the control system 4 finds that the driving route of the robot is offset, it must correct it in the first time, so that the robot can return to the proper route as soon as possible. This process can be called the calibration process. In order to solve the technical problem of how to control the linear travel of the robot on the slope plane, the embodiment provides a linear travel control method for the robot on the slope plane, which may include the following steps.

Step S11) determining whether a robot travels along a preset straight path according to the linear traveling determination method of the robot on the slope plane according to steps S1)-S8) or steps S1)-S10) in the foregoing; if the robot deviates The preset straight path is performed in step S12).

Step S12) controlling the robot to deflect in the Tm direction during running; specifically comprising the steps of: step S121) retrieving the actual traveling direction Tn corresponding to the real-time direction parameter in the standard direction parameter library; and calculating in step S122) The robot needs an adjusted yaw direction and a yaw angle; the yaw angle is an angle between the actual traveling direction Tn and the preset traveling direction Tm; step S123) according to the yaw direction and the yaw angle that the robot needs to adjust, A direction adjustment command is issued to the power system 3 to control the robot to deflect to the left or to the right.

Step S13) controlling the robot to travel straight along the Tm direction on the slope plane; returning to step S11).

Wherein, the determination method that the robot travels straight on the slope plane, such as steps S1)-S8), or steps S1)-S10), can quickly judge according to a set of acceleration data (and magnetic sensor data) in a very short time. Out of the car body on the slope Whether it is traveling straight or not; since the acceleration sensor can collect data in real time, a set of data is collected at regular intervals; therefore, the above-mentioned determination process is periodically determined once every other time. Whenever the robot (body) is found to be on the slope plane and deviates from the straight line, it can be determined that the robot has deviated.

Wherein, the control method for the robot to travel straight on the slope plane, such as step S11) to step S13), is based on the aforementioned linear traveling determination technique of the robot on the slope plane, and after confirming that the robot has deviated, the robot is adjusted for the first time. The direction of travel is such that it returns to the path in the original direction.

In the present invention, the determination method of the robot traveling straight on the slope plane is used in conjunction with the control method of the robot traveling straight on the slope plane, thereby ensuring that the cleaning robot does not deviate during straight running, thereby ensuring The cleaning robot can walk through the entire solar panel in the shortest time along the pre-set optimized navigation path, and clean the entire solar panel quickly and well.

According to the principle of the shortest time and the shortest driving path, the optimized navigation path of the robot on a rectangular slope can be easily planned and calculated. How to make the robot can travel along a preset optimized navigation path, this embodiment provides a series of The control scheme and the navigation method, the navigation method refers to a control method that causes the robot to travel along the navigation path.

In this embodiment, the data collection unit 41 may further include at least one distance sensor 413, including but not limited to an ultrasonic sensor and an optical pulse sensor. The distance sensor 413 is disposed at the outer edge of the robot 100 (vehicle body 1), specifically, at the four corners of the vehicle body 1 (body 11), as shown in FIG. 2, when the robot 100 is on a rectangular slope When traveling, the front end of the distance sensor 413 faces the rectangular slope direction. The distance sensor 413 is connected to the processor 42; the distance data of the distance sensor 413 and the rectangular slope is collected in real time; the processor 42 determines whether the vehicle body 1 is located on the rectangular slope according to the distance data of the distance sensor 413 and the rectangular slope. At the edge or at the corner.

In the present embodiment, the number of distance sensors 413 is four, respectively disposed at four corners of the robot (vehicle body); when only two distance sensors 413 can collect the distance data, the processor 42 determines the robot ( The vehicle body is located at the edge of the rectangular slope 300 and issues at least one steering command (U-turn) to the power system 3; when only one distance sensor collects the distance data, the processor determines that the robot (body) is located At a corner of the rectangular ramp 300, at least one steering command (90 degree turn or U-turn) is issued to the powertrain 3. The four distance sensors 413 can also be respectively disposed in the middle of each side of the vehicle body 1. When the processor finds that the distance sensor 413 on one side cannot collect the distance data, it can be judged that the side is located on the rectangular slope. At the edge; if two adjacent sides are located at the edge of the rectangular slope, it can be judged that the body 1 is located at a certain corner of the solar panel. The number of distance sensors 413 may also be eight, which are respectively disposed at four corners of the vehicle body 1 or in the middle of the four sides of the vehicle body 1.

The control system 4 may further include a counter 414 for calculating a corner passing by the vehicle body 1 in the slope plane. In a working operation of the robot, whenever the processor 42 determines that the vehicle body reaches a certain corner, the counter is at the counter. Add one. The processor 42 can clearly know the order (the first few corners) of the corners at which the vehicle body 1 arrives by the technical result fed back by the counter 414.

The worker inputs the planned optimization path to the memory of the control system 4 in advance, and the processor sends control commands to the power system 3 according to the navigation path and the real-time position of the robot (vehicle body), including starting, stopping, and going straight. Turn left or right 90 degrees, turn left or right U (turn to a 180 degree turn on the adjacent lane) to control the car body to follow the navigation path while traveling.

In this embodiment, a path navigation method for four types of robots traveling on a rectangular slope is disclosed, and the details thereof are as follows. The solar panel is also a rectangular slope, and the driving path navigation method of the cleaning robot on the solar panel is also applicable to the path navigation method of the robot traveling on a rectangular slope as described below.

The path navigation method of the first type of robot traveling on a rectangular slope disclosed in the embodiment includes the following steps: step S101) setting a lower left corner of the rectangular slope as a navigation starting point; and step S102) controlling the robot from the The navigation starting point is traveling straight to the upper left corner of the rectangular slope; step S103) detecting whether the robot travels to the first corner of the rectangular slope in real time; if the robot does not reach the first corner, returning to step S102); If the robot reaches the first corner, control the robot to turn to the right by 90 degrees; step S104) control the robot to travel straight; step S105) detect in real time whether the robot travels to the second corner of the rectangular slope If the robot does not reach the second corner, return to step S104); if the robot reaches the second corner, control the robot to perform U-turn to the right; step S106) detect whether the robot is traveling in real time. To a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the machine Arriving at the third corner, controlling the robot to travel straight, and detecting in real time whether the robot travels to a fourth corner of the rectangular slope; if the robot does not reach the fourth corner, controlling the robot Driving straight; if the robot reaches the fourth corner, controlling the robot to stop traveling; step S107) detecting in real time whether the robot travels to the edge of the rectangular slope if the robot reaches the rectangular slope At an edge; controlling the robot to perform a U-turn to the left; step S108) detecting in real time whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the The robot travels straight; if the robot reaches the third corner, detecting whether the robot travels to the fourth corner of the rectangular slope in real time; if the robot does not reach the fourth corner, controlling the robot to travel straight And if the robot reaches the fourth corner, controlling the robot to stop driving; step S109) detecting the machine in real time; Whether the person is traveling to the edge of the rectangular slope, if The robot reaches an edge of the rectangular slope; controls the robot to perform a U-turn to the right; and returns to step S106).

The robot using the first path navigation method can have many kinds of travel paths on a rectangular slope. Since the length and width of the rectangular slope are different from the length and width of the robot, the length of the robot travel path is also different. The position where the robot stops driving is also different (stop in the lower left or lower right corner). As shown in FIGS. 13 and 14, there are two possible travel paths that the robot 100 travels on the rectangular ramp 300 using the first path navigation method.

The traveling method of the second type of robot on the rectangular slope disclosed in the embodiment includes the following steps: step S201) setting a lower right corner of the rectangular slope as a navigation starting point; and step S202) controlling the robot from the navigation Starting point traveling straight to the upper right corner of the rectangular slope; step S203) detecting whether the robot travels to the first corner of the rectangular slope in real time; if the robot does not reach the first corner, returning to step S202); The robot reaches the first corner, controls the robot to turn to the left by 90 degrees; step S204) controls the robot to travel straight; step S205) detects in real time whether the robot travels to the second corner of the rectangular slope; If the robot does not reach the second corner, return to step S204); if the robot reaches the second corner, control the robot to perform U-turn to the left; step S206) detect in real time whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the machine The person reaches the third corner, controls the robot to travel straight, and detects whether the robot travels to the fourth corner of the rectangular slope in real time; if the robot does not reach the fourth corner, controls the straight line of the robot Driving; if the robot reaches the fourth corner, controlling the robot to stop driving; step S209) detecting in real time whether the robot travels to the edge of the rectangular slope if the robot reaches one of the rectangular slopes At the edge; controlling the robot to perform U-turn to the right; returning to step S206).

The robot using the second path navigation method can have a variety of travel paths on a rectangular slope. Since the length and width of the rectangular slope are different from the length and width of the robot, the length of the robot travel path is also different. The position where the robot stops driving is also different (stop in the lower left or lower right corner). Two possible travel paths for the robot 100 to travel on the rectangular ramp 300 using the second path navigation method are shown in FIGS. 15 and 16.

The navigation method of the third type of robot on the rectangular slope disclosed in the embodiment includes the following steps: step S301) setting a lower left corner of the rectangular slope as a navigation starting point; and step S302) controlling the robot from the navigation Starting point is straight to the upper left corner of the rectangular slope; step S303) detecting whether the robot travels to the first corner of the rectangular slope in real time; if the robot does not reach the first corner, returning to step S302); The robot reaches the first corner, and controls the robot to perform U-turn to the right; step S304) detects the robot in real time. Whether to travel to the second corner of the rectangular slope; if the robot does not reach the second corner, control the robot to travel straight; if the robot reaches the second corner, control the robot to travel straight, and Detecting in real time whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the robot reaches the third corner, controlling the The robot stops traveling; step S305) detects in real time whether the robot travels to the edge of the rectangular slope, if the robot reaches an edge of the rectangular slope; controls the robot to perform U-turn to the left; step S306 Detecting in real time whether the robot travels to a second corner of the rectangular slope; if the robot does not reach the second corner, controlling the robot to travel straight; if the robot reaches the second corner, the control center The robot travels in a straight line and detects in real time whether the robot travels to a third corner of the rectangular slope; The robot does not reach the third corner, and controls the robot to travel straight; if the robot reaches the third corner, controls the robot to stop traveling; step S307) detects in real time whether the robot travels to the rectangular slope At the edge, if the robot reaches an edge of the rectangular slope; the robot is controlled to perform a U-turn to the right; and the process returns to step S304).

The robot using the third path navigation method can have a variety of travel paths on a rectangular slope. Since the length and width of the rectangular slope are different from the length and width of the robot, the length of the robot travel path is also different. The position where the robot stops driving is also different (stop in the lower left or lower right corner). Two possible travel paths for the robot 100 to travel on the rectangular ramp 300 using the third path navigation method are shown in FIGS. 17 and 18.

The fourth type robot traveling path navigation method on the rectangular slope disclosed in the embodiment includes the following steps: step S401) setting a lower right corner of the rectangular slope as a navigation starting point; and step S402) controlling the robot from the navigation Starting point is straight to the upper right corner of the rectangular slope; step S403) detecting whether the robot travels to the first corner of the rectangular slope in real time; if the robot does not reach the first corner, returning to step S402); The robot reaches the first corner, and controls the robot to perform a U-turn to the left; step S404) detects in real time whether the robot travels to a second corner of the rectangular slope; if the robot does not reach the first Two corners, controlling the robot to travel straight; if the robot reaches the second corner, controlling the robot to travel straight, and detecting in real time whether the robot travels to a third corner of the rectangular slope; Not reaching the third corner, controlling the robot to travel straight; if the robot reaches the third corner, controlling the Stopping the driving; step S405) detecting in real time whether the robot travels to the edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform a U-turn to the right; S406) detecting, in real time, whether the robot travels to a second corner of the rectangular slope; if the robot does not reach the second corner, controlling the robot to travel straight; if the robot reaches the second corner, controlling The robot travels in a straight line and detects the location in real time. Whether the robot travels to the third corner of the rectangular slope; if the robot does not reach the third corner, the robot is controlled to travel straight; if the robot reaches the third corner, the robot is controlled to stop driving Step S407) detecting in real time whether the robot travels to the edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform a U-turn to the left; and returning to step S404).

The robot using the fourth path navigation method can have many kinds of travel paths on a rectangular slope. Since the length and width of the rectangular slope are different from the length and width of the robot, the length of the robot travel path is also different. The position where the robot stops driving is also different (stop in the lower left or lower right corner). As shown in FIG. 19 and FIG. 20, there are two possible driving paths for the robot 100 to travel on the rectangular slope 300 using the fourth path navigation method.

In the above-mentioned four kinds of robots, the traveling path navigation method on the rectangular slope determines whether the robot is traveling in a straight line or controls the straight-line driving of the robot. The specific method has been described in detail in the foregoing, and will not be described herein. Controlling the robot to turn 90 degrees to the left or right has been described in detail in the introduction of the previous power system, and will not be described herein.

In the method for navigating the path of the four kinds of robots on the rectangular slope, detecting whether the robot travels to a corner or an edge of the rectangular slope in real time, specifically comprising the following steps: step S1011) at the left front of the robot a distance sensor 413 is disposed on the right front portion, the left rear portion, and the right rear portion. The distance sensor 413 extends to the outside of the robot, and the distance sensor 413 faces the solar panel. Step S1012) sequentially numbers the four distance sensors 413. The distance sensors 413 disposed on the left front portion, the right front portion, the left rear portion, and the right rear portion of the robot are respectively defined as a sensor N1, a sensor N2, a sensor N3, and a sensor N4; and the step S1013) the sensor that is simultaneously acquired by the robot according to any time. Signal determining the position of the robot; when the robot simultaneously acquires the sensor N3 signal and the sensor N4 signal, determining that the robot reaches an edge of the rectangular slope; when the robot can only acquire the sensor N4 signal, determining The robot reaches a first corner or a second corner of the rectangular slope; When the robot can only acquire the sensor N3 signal, it is determined that the robot reaches the third corner or the fourth corner of the rectangular slope; step S1014) when it is determined that the robot reaches a corner of the rectangular slope, the counter is counted To judge the order of the corners (the first few corners).

In the method for navigating the path of the four kinds of robots on the rectangular slope, controlling the robot to perform U-turn to the left, specifically comprising the following steps: Step S1031) controlling the robot to turn leftward by 90 degrees to the left; Step S1032) The robot travels straight a certain distance, the certain distance is equal to the width of the robot; and step S1033) controls the robot to turn leftward by 90 degrees to the left.

In the above four kinds of robots in a method of navigating a path on a rectangular slope, controlling the robot to perform a U word to the right The slewing includes the following steps: step S1041) controlling the robot to turn to the right by 90 degrees; step S1042) controlling the robot to travel a certain distance in a straight line, the certain distance is equal to the width of the robot; step S1043) The robot is turned to the right 90 degrees.

The above four kinds of robots travel on a rectangular slope, and the technical effect is that the robot can walk through every corner of the rectangular slope in the shortest time without interruption and without repetition, thereby realizing the comprehensiveness of the rectangular slope. cover. In this embodiment, the cleaning robot can use any of the above four navigation methods to walk through every corner of the solar panel in a short time and effectively clean it. Since sewage will be generated during the cleaning process, it may slide down along the solar panel. Therefore, the cleaning effect of the third and fourth navigation methods may be poor, and the first and second navigation methods are preferred.

The data collection unit 41 further includes a liquid level sensor 259 coupled to the processor 42 for collecting liquid level data in the liquid dispensing container 25 in real time. During operation of the cleaning device, the control system 4 can be based on real time in the liquid dispensing container 25. The level data sends at least one pump 28 control signal to the pump 28 to initiate or stop the operation of the pump 28 or to control the liquid discharge rate. For example, when the real-time level data in the liquid dispensing container 25 is lowered to a predetermined threshold, the control system 4 can issue a pump 28 deceleration command to control the pump 28 to slow down the pumping speed; when in the liquid dispensing container 25 in real time When the liquid level data is lowered to the lowest point, or when the control system 4 issues a body stop command, the control system 4 can issue a pump 28 stop command to control the pump 28 to stop operating.

The control system 4 also includes at least one alarm unit 44 coupled to the processor 42, which may be a red light or buzzer disposed outside of the vehicle body. When a certain operating parameter exceeds a set threshold, the alarm unit issues an alarm signal, for example, when the liquid level data in the liquid dispensing container 25 is below a predetermined threshold, or when the power system 5 is insufficiently powered, or When the cleaning robot issues a fault, the alarm unit 44 can issue an alarm signal to alert the user.

The data collection unit 41 includes at least one image sensor 415 or a camera connected to the processor 42 and disposed at the front end of the vehicle body 1 (as shown in FIG. 2 and FIG. 3) for collecting the front of the vehicle body 1 during the traveling of the vehicle body 1. Images, which can be stored to the storage unit to facilitate the worker to view the working state of the robot.

In this embodiment, the technical effect of the control system 4 is to provide an optimized path for the various cleaning robots to travel on the solar panel and a control method for the robot to travel straight in the slope plane, ensuring that the robot can walk through the entire space of the solar panel without repeating The cover area is large and will not fall from the edge of the solar panel, which can ensure the cleaning effect and ensure the work efficiency.

The solar panel cleaning robot 100 may further include at least one wireless communication unit 45 wirelessly connected to a server 400 for establishing communication between the solar panel cleaning robot 100 and the server 400. The image in front of the car body 1 can be It is sent to the server 400 in real time, so that the staff can effectively view the cleaning robot in the working process, and effectively solve the technical problem that the cleaning robot is difficult to monitor the working state of the panel when the solar panel is located at a high place in the prior art.

In this embodiment, as shown in FIG. 3, the power system 5 is one or a set of disposable batteries or rechargeable batteries (not shown) disposed in the battery case 51, and the worker is required to periodically remove the cleaning robot from the present embodiment. Remove the solar panel and replace it with battery or charge to make it work.

The embodiment provides a solar panel cleaning robot, which can run freely on the solar panel, effectively removes dust and other attachments on the panel, and has good decontamination effect; the cleaning robot of the present invention runs on the solar panel according to the setting The optimized path travels, and can cover the entire space of the panel without repetition, and the work efficiency is high; the cleaning robot of the invention can automatically turn or turn the head according to the program, realize automatic control, and is convenient to operate.

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. These improvements and retouchings should also be considered. It is the scope of protection of the present invention.

Claims

A path navigation method for a robot to travel on a rectangular slope includes the following steps:

Step S101) setting a lower left corner of the rectangular slope as a navigation starting point;

Step S102) controlling the robot to travel straight from the navigation starting point to the upper left corner of the rectangular slope;

Step S103) detecting whether the robot travels to a first corner of the rectangular slope; if the robot does not reach the first corner, returning to step S102); if the robot reaches the first corner, controlling the The robot turns to the right 90 degrees;

Step S104) controlling the robot to travel straight;

Step S105) detecting whether the robot travels to the second corner of the rectangular slope; if the robot does not reach the second corner, returning to step S104); if the robot reaches the second corner, controlling the The robot makes a U-turn to the right;

Step S106) detecting whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the robot reaches the third corner, control The robot travels straight and detects whether the robot travels to a fourth corner of the rectangular slope; if the robot does not reach the fourth corner, controls the robot to travel straight; if the robot reaches the first Four corners, controlling the robot to stop driving;

Step S107) detecting whether the robot travels to the edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform a U-turn to the left;

Step S108) detecting whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the robot reaches the third corner, detecting Whether the robot travels to a fourth corner of the rectangular slope; if the robot does not reach the fourth corner, controlling the robot to travel straight; if the robot reaches the fourth corner, controlling the robot to stop travel;

Step S109) detecting whether the robot travels to the edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform a U-turn to the right; and returning to step S106).
The path navigation method of the robot running on a rectangular slope according to claim 1, wherein detecting whether the robot travels to a corner or an edge of the rectangular slope comprises the following steps:

Step S1011) respectively providing a distance sensor in the left front part, the right front part, the left rear part and the left rear part of the robot, the distance sensor extending to the outside of the robot, the distance sensor facing the solar panel;

Step S1012) is four distance sensor numbers in sequence, and the distance sensors of the left front part, the right front part, the left rear part and the left rear part of the robot are respectively defined as a sensor N1, a sensor N2, a sensor N3 and a sensor N4;

Step S1013) The robot determines the position of the robot according to the sensor signal acquired at any time; when the robot simultaneously acquires the sensor N3 signal and the sensor N4 signal, it is determined that the robot reaches an edge of the rectangular slope When the robot can only acquire the sensor N4 signal, it is determined that the robot reaches the first corner or the second corner of the rectangular slope; when the robot can only acquire the sensor N3 signal, it is determined that the robot reaches the The third or fourth corner of the rectangular slope.
The path navigation method of the robot traveling on a rectangular slope according to claim 1, wherein controlling the linear travel of the robot specifically includes the following steps:

Step S11) determining whether a robot travels along a preset straight path; if the robot deviates from a preset straight path, step S12);

Step S12) controlling the robot to deflect toward the Tm direction during running;

Step S13) controlling the robot to travel straight along the Tm direction on the slope plane; returning to step S11).
The method of claim 3, wherein the step S11) determining whether a robot is traveling along a preset straight path comprises the following steps:

Step S1) establishing a three-dimensional coordinate system on the robot, defining that the traveling direction of the robot is a positive direction of the Y-axis, and defining a direction perpendicular to the plane of the slope as a Z-axis direction; the X-axis and the Y-axis are located a plane parallel to the plane of the slope;

Step S2) defining a standard component vector g xs0 , g ys0 , g zs0 of the gravitational acceleration g in three directions of the three-dimensional coordinate system when the traveling direction of the robot is Ts;

Step S3) generating a standard direction parameter library;

Step S4) controlling the robot to travel straight in any direction Tm along the preset straight line radial direction on the slope plane;

Step S5) extracting standard component vectors g xm0 , g ym0 , g zm0 data corresponding to the traveling direction Tm from the standard direction parameter library;

Step S6) every constant time interval t a set of real-time acquisition parameters in real-time direction, the direction of the real-time parameter comprises a real-time sub-gravitational acceleration vector g in the direction of the three dimensional coordinate system g xm1, g ym1, g zm1 ;

Vector difference divided step S7) calculating the gravitational acceleration g in the X-axis direction of the vector and real division standard score vector g xd = g xm1 -g xm0;

Step S8) determining whether the robot is traveling along a preset straight path; when g xd is equal to 0, determining that the robot travels along a preset straight path, returning to step S106); when g xd is not equal to 0, It is determined that the robot deviates from a preset straight path.
The method of claim 4, wherein the step S6) and the step S7) further comprise the following steps:

Step S9) using a magnetic sensor to obtain a real-time traveling direction Tm1;

Step S10) Tm1 g according to the traveling direction of the real-time real-time sub-gravitational acceleration vector g in the direction of the three-dimensional coordinates xm1, g ym1, g zm1 do partial correction process.
The path navigation method of the robot traveling on a rectangular slope according to claim 4, wherein the step S3) generates a standard direction parameter library, and specifically includes the following steps:

Step S31) controlling the robot to perform a uniform circular motion along the preset one circular path on the slope plane;

Step S32) during the circular motion of the robot, collecting and recording at least one set of standard direction parameters in real time at regular intervals t 0 ; each set of standard direction parameters includes a traveling direction Ts of the robot and correspondingly traveling The standard component vectors g xs0 , g ys0 , g zs0 ;

Step S33) generating a standard direction parameter library according to at least one set of standard direction parameters.
The path navigation method of the robot traveling on a rectangular slope according to claim 3, wherein the step S12) controlling the robot to deflect in the Tm direction during running comprises the following steps:

Step S121) picking up the actual traveling direction Tn corresponding to the real-time direction parameter in the standard direction parameter library;

Step S122) calculating a deflection direction and a deflection angle that the robot needs to adjust; the deflection angle is an angle between the actual traveling direction Tn and the preset traveling direction Tm;

Step S123) controlling the robot to deflect leftward or rightward according to the deflection direction and the deflection angle that the robot needs to adjust.
A path navigation method for traveling on a rectangular slope of a robot according to claim 1, wherein

Controlling the robot to perform a U-turn to the left includes the following steps:

Step S1031) controlling the robot to turn leftward by 90 degrees to the left;

Step S1032) controlling the robot to travel straight for a certain distance, the certain distance being equal to the width of the robot;

Step S1033) controlling the robot to turn left 90 degrees to the left;
The path navigation method of the robot traveling on a rectangular slope according to claim 1, wherein the following steps are as follows:

Controlling the robot to perform a U-turn to the right includes the following steps:

Step S1041) controlling the robot to turn to the right by 90 degrees;

Step S1042) controlling the robot to travel straight for a certain distance, the certain distance being equal to the width of the robot;

Step S1043) Controlling the robot to turn to the right by 90 degrees.
A path navigation method for a robot to travel on a rectangular slope includes the following steps:

Step S201) setting a lower right corner of the rectangular slope as a navigation starting point;

Step S202) controlling the robot to travel straight from the navigation starting point to the upper right corner of the rectangular slope;

Step S203) detecting whether the robot travels to a first corner of the rectangular slope; if the robot does not reach the first corner, returning to step S202); if the robot reaches the first corner, controlling the The robot turns to the left 90 degrees;

Step S204) controlling the robot to travel straight;

Step S205) detecting whether the robot travels to the second corner of the rectangular slope; if the robot does not reach the second corner, returning to step S204); if the robot reaches the second corner, controlling the The robot makes a U-turn to the left;

Step S206) detecting whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the robot reaches the third corner, control The robot travels straight and detects whether the robot travels to a fourth corner of the rectangular slope; if the robot does not reach the fourth corner, controls the robot to travel straight; if the robot reaches the first Four corners,

Controlling the robot to stop driving;

Step S207) detecting whether the robot travels to the edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform a U-turn to the right;

Step S208) detecting whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the robot reaches the third corner, detecting Whether the robot travels to a fourth corner of the rectangular slope; if the robot does not reach the fourth corner, controlling the robot to travel straight; if the robot reaches the fourth corner, controlling the robot to stop travel;

Step S209) detecting whether the robot travels to the edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform a U-turn to the left; and returning to step S206).
The path navigation method of the robot running on a rectangular slope according to claim 10, wherein detecting whether the robot travels to a corner or an edge of the rectangular slope comprises the following steps:

Step S1011) respectively providing a distance sensor in the left front part, the right front part, the left rear part and the left rear part of the robot, the distance sensor extending to the outside of the robot, the distance sensor facing the solar panel;

Step S1012) is four distance sensor numbers in sequence, and the distance sensors of the left front part, the right front part, the left rear part and the left rear part of the robot are respectively defined as a sensor N1, a sensor N2, a sensor N3 and a sensor N4;

Step S1013) The robot determines the position of the robot according to the sensor signal acquired at any time; when the robot simultaneously acquires the sensor N3 signal and the sensor N4 signal, it is determined that the robot reaches an edge of the rectangular slope When the robot can only acquire the sensor N4 signal, it is determined that the robot reaches the first corner or the second corner of the rectangular slope; when the robot can only acquire the sensor N3 signal, it is determined that the robot reaches the The third or fourth corner of the rectangular slope.
The path navigation method of the robot running on a rectangular slope according to claim 10, wherein controlling the linear travel of the robot specifically includes the following steps:

Step S11) determining whether a robot travels along a preset straight path; if the robot deviates from a preset straight path, step S12);

Step S12) controlling the robot to deflect toward the Tm direction during running;

Step S13) controlling the robot to travel straight along the Tm direction on the slope plane; returning to step S11).
The method for guiding a path of a robot on a rectangular slope according to claim 12, wherein the step S11) determining whether the robot is traveling along a preset straight path comprises the following steps:

Step S1) establishing a three-dimensional coordinate system on the robot, defining that the traveling direction of the robot is a positive direction of the Y-axis, and defining a direction perpendicular to the plane of the slope as a Z-axis direction; the X-axis and the Y-axis are located a plane parallel to the plane of the slope;

Step S2) defining a standard component vector gxs0, gys0, gzs0 of the gravitational acceleration g in three directions of the three-dimensional coordinate system when the traveling direction of the robot is Ts;

Step S3) generating a standard direction parameter library;

Step S4) controlling the robot to travel straight in any direction Tm along the preset straight line radial direction on the slope plane;

Step S5) extracting standard component vector gxm0, gym0, gzm0 data corresponding to the traveling direction Tm from the standard direction parameter library;

Step S6) collecting a set of real-time direction parameters in real time at regular intervals t, the real-time direction parameters including real-time sub-vectors gxm1, gym1, gzm1 of the gravitational acceleration g in three directions of the three-dimensional coordinate system;

Step S7) calculating a difference vector gxd=gxm1-gxm0 of the real-time component vector of the gravitational acceleration g in the X-axis direction and the standard component vector;

Step S8) determining whether the robot is traveling along a preset straight path; when gxd is equal to 0, determining that the robot travels along a preset straight path, returning to step S106); when gxd is not equal to 0, determining The robot deviates from the preset straight path.
The path navigation method of the robot running on a rectangular slope according to claim 13, wherein the step S6) and the step S7) may further include the following steps:

Step S9) using a magnetic sensor to obtain a real-time traveling direction Tm1;

Step S10) Performing a calibration process on the real-time component vectors gxm1, gym1, gzm1 of the gravitational acceleration g in three directions of the three-dimensional coordinate system according to the real-time traveling direction Tm1.
The path navigation method of the robot traveling on a rectangular slope according to claim 13, wherein the step S3) generates a standard direction parameter library, and specifically includes the following steps:

Step S31) controlling the robot to perform a uniform circular motion along the preset one circular path on the slope plane;

Step S32) During the circular motion of the robot, at least a set of standard direction parameters are collected and recorded in real time at regular intervals t0; each set of standard direction parameters includes a traveling direction Ts of the robot and a corresponding traveling direction. Standard component vectors gxs0, gys0, gzs0;

Step S33) generating a standard direction parameter library according to at least one set of standard direction parameters.
The method of claim 12, wherein the step of controlling the robot to deflect in the Tm direction during driving comprises the following steps:

Step S121) picking up the actual traveling direction Tn corresponding to the real-time direction parameter in the standard direction parameter library;

Step S122) calculating a deflection direction and a deflection angle that the robot needs to adjust; the deflection angle is an angle between the actual traveling direction Tn and the preset traveling direction Tm;

Step S123) controlling the robot to deflect leftward or rightward according to the deflection direction and the deflection angle that the robot needs to adjust.
A path navigation method for traveling on a rectangular slope of a robot according to claim 10, wherein

Controlling the robot to perform a U-turn to the left includes the following steps:

Step S1031) controlling the robot to turn leftward by 90 degrees to the left;

Step S1032) controlling the robot to travel straight for a certain distance, the certain distance being equal to the width of the robot;

Step S1033) Controlling the robot to turn leftward by 90 degrees to the left.
A path navigation method for traveling on a rectangular slope of a robot according to claim 10, wherein the following steps: controlling The robot performs U-turn to the right, and specifically includes the following steps:

Step S1041) controlling the robot to turn to the right by 90 degrees;

Step S1042) controlling the robot to travel straight for a certain distance, the certain distance being equal to the width of the robot;

Step S1043) Controlling the robot to turn to the right by 90 degrees.
A path navigation method for a robot to travel on a rectangular slope includes the following steps:

Step S301) setting a lower left corner of the rectangular slope as a navigation starting point;

Step S302) controlling the robot to travel straight from the navigation starting point to the upper left corner of the rectangular slope;

Step S303) detecting whether the robot travels to a first corner of the rectangular slope; if the robot does not reach the first corner, returning to step S302); if the robot reaches the first corner, controlling the The robot makes a U-turn to the right;

Step S304) detecting whether the robot travels to a second corner of the rectangular slope; if the robot does not reach the second corner, controlling the robot to travel straight; if the robot reaches the second corner, controlling The robot travels straight and detects whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controls the robot to travel straight; if the robot reaches the first Three corners, controlling the robot to stop driving;

Step S305) detecting whether the robot travels to the edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform U-turn to the left;

Step S306) detecting whether the robot travels to the second corner of the rectangular slope; if the robot does not reach the second corner, controlling the robot to travel straight; if the robot reaches the second corner, detecting Whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the robot reaches the third corner, controlling the robot to stop travel;

Step S307) detecting whether the robot travels to the edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform U-turn to the right; and returning to step S304).
The path navigation method of the robot running on a rectangular slope according to claim 19, wherein detecting whether the robot travels to a corner or an edge of the rectangular slope comprises the following steps:

Step S1011) respectively providing a distance sensor in the left front part, the right front part, the left rear part and the left rear part of the robot, the distance sensor extending to the outside of the robot, the distance sensor facing the solar panel;

Step S1012) is four distance sensor numbers in sequence, and the distance sensors of the left front part, the right front part, the left rear part and the left rear part of the robot are respectively defined as a sensor N1, a sensor N2, a sensor N3 and a sensor N4;

Step S1013) The robot determines the position of the robot according to the sensor signal acquired at any time; when the robot simultaneously acquires the sensor N3 signal and the sensor N4 signal, it is determined that the robot reaches an edge of the rectangular slope When the robot can only acquire the sensor N4 signal, it is determined that the robot reaches the first corner or the second corner of the rectangular slope; when the robot can only acquire the sensor N3 signal, it is determined that the robot reaches the The third or fourth corner of the rectangular slope.
The path navigation method of the robot running on a rectangular slope according to claim 19, wherein controlling the linear travel of the robot comprises the following steps:

Step S11) determining whether a robot travels along a preset straight path; if the robot deviates from a preset straight path, step S12);

Step S12) controlling the robot to deflect toward the Tm direction during running;

Step S13) controlling the robot to travel straight along the Tm direction on the slope plane; returning to step S11).
The method of claim 21, wherein the step S11) determining whether a robot is traveling along a preset straight path comprises the following steps:

Step S1) establishing a three-dimensional coordinate system on the robot, defining that the traveling direction of the robot is a positive direction of the Y-axis, and defining a direction perpendicular to the plane of the slope as a Z-axis direction; the X-axis and the Y-axis are located a plane parallel to the plane of the slope;

Step S2) defining a standard component vector gxs0, gys0, gzs0 of the gravitational acceleration g in three directions of the three-dimensional coordinate system when the traveling direction of the robot is Ts;

Step S3) generating a standard direction parameter library;

Step S4) controlling the robot to travel straight in any direction Tm along the preset straight line radial direction on the slope plane;

Step S5) extracting standard component vector gxm0, gym0, gzm0 data corresponding to the traveling direction Tm from the standard direction parameter library;

Step S6) collecting a set of real-time direction parameters in real time at regular intervals t, the real-time direction parameters including real-time sub-vectors gxm1, gym1, gzm1 of the gravitational acceleration g in three directions of the three-dimensional coordinate system;

Step S7) calculating a difference vector gxd=gxm1-gxm0 of the real-time component vector of the gravitational acceleration g in the X-axis direction and the standard component vector;

Step S8) determining whether the robot is traveling along a preset straight path; when gxd is equal to 0, determining that the robot travels along a preset straight path, returning to step S106); when gxd is not equal to 0, determining Robotic bias A straight path from the preset.
The path navigation method of the robot of claim 22, wherein the step S6) and the step S7) may further include the following steps:

Step S9) using a magnetic sensor to obtain a real-time traveling direction Tm1;

Step S10) Performing a calibration process on the real-time component vectors gxm1, gym1, gzm1 of the gravitational acceleration g in three directions of the three-dimensional coordinate system according to the real-time traveling direction Tm1.
The path navigation method of the robot running on a rectangular slope according to claim 22, wherein the step S3) generates a standard direction parameter library, and specifically includes the following steps:

Step S31) controlling the robot to perform a uniform circular motion along the preset one circular path on the slope plane;

Step S32) During the circular motion of the robot, at least a set of standard direction parameters are collected and recorded in real time at regular intervals t0; each set of standard direction parameters includes a traveling direction Ts of the robot and a corresponding traveling direction. Standard component vectors gxs0, gys0, gzs0;

Step S33) generating a standard direction parameter library according to at least one set of standard direction parameters.
The method of claim 21, wherein the step of controlling the robot to deflect in the Tm direction during driving comprises the following steps:

Step S121) picking up the actual traveling direction Tn corresponding to the real-time direction parameter in the standard direction parameter library;

Step S122) calculating a deflection direction and a deflection angle that the robot needs to adjust; the deflection angle is an angle between the actual traveling direction Tn and the preset traveling direction Tm;

Step S123) controlling the robot to deflect leftward or rightward according to the deflection direction and the deflection angle that the robot needs to adjust.
A path navigation method for traveling on a rectangular slope of a robot according to claim 19, wherein

Controlling the robot to perform a U-turn to the left includes the following steps:

Step S1031) controlling the robot to turn leftward by 90 degrees to the left;

Step S1032) controlling the robot to travel straight for a certain distance, the certain distance being equal to the width of the robot;

Step S1033) Controlling the robot to turn leftward by 90 degrees to the left.
The path navigation method of the robot traveling on a rectangular slope according to claim 19, wherein the following steps are as follows:

Controlling the robot to perform a U-turn to the right includes the following steps:

Step S1041) controlling the robot to turn to the right by 90 degrees;

Step S1042) controlling the robot to travel straight for a certain distance, the certain distance being equal to the width of the robot;

Step S1043) Controlling the robot to turn to the right by 90 degrees.
A path navigation method for a robot to travel on a rectangular slope includes the following steps:

Step S401) setting a lower right corner of the rectangular slope as a navigation starting point;

Step S402) controlling the robot to travel straight from the navigation starting point to the upper right corner of the rectangular slope;

Step S403) detecting whether the robot travels to a first corner of the rectangular slope; if the robot does not reach the first corner, returning to step S402); if the robot reaches the first corner, controlling the The robot makes a U-turn to the left;

Step S404) detecting whether the robot travels to a second corner of the rectangular slope; if the robot does not reach the second corner, controlling the robot to travel straight; if the robot reaches the second corner, controlling The robot travels straight and detects whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controls the robot to travel straight; if the robot reaches the first Three corners, controlling the robot to stop driving;

Step S405) detecting whether the robot travels to the edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform a U-turn to the right;

Step S406) detecting whether the robot travels to a second corner of the rectangular slope; if the robot does not reach the second corner, controlling the robot to travel straight; if the robot reaches the second corner, detecting Whether the robot travels to a third corner of the rectangular slope; if the robot does not reach the third corner, controlling the robot to travel straight; if the robot reaches the third corner, controlling the robot to stop travel;

Step S407) detecting whether the robot travels to the edge of the rectangular slope if the robot reaches an edge of the rectangular slope; controlling the robot to perform a U-turn to the left; and returning to step S404).
The path navigation method of the robot running on a rectangular slope according to claim 28, wherein detecting whether the robot travels to a corner or an edge of the rectangular slope comprises the following steps:

Step S1011) respectively providing a distance sensor in the left front part, the right front part, the left rear part and the left rear part of the robot, the distance sensor extending to the outside of the robot, the distance sensor facing the solar panel;

Step S1012) is four distance sensor numbers in sequence, and the distance sensors of the left front part, the right front part, the left rear part and the left rear part of the robot are respectively defined as a sensor N1, a sensor N2, a sensor N3 and a sensor N4;

Step S1013) The robot determines the position of the robot according to the sensor signal acquired at any time; when the robot simultaneously acquires the sensor N3 signal and the sensor N4 signal, it is determined that the robot reaches the rectangle At an edge of the slope; when the robot can only acquire the sensor N4 signal, it is determined that the robot reaches the first corner or the second corner of the rectangular slope; when the robot can only acquire the sensor N3 signal, the determination The robot reaches the third or fourth corner of the rectangular ramp.
The path navigation method of the robot running on a rectangular slope according to claim 29, wherein controlling the linear travel of the robot specifically includes the following steps:

Step S11) determining whether a robot travels along a preset straight path; if the robot deviates from a preset straight path, step S12);

Step S12) controlling the robot to deflect toward the Tm direction during running;

Step S13) controlling the robot to travel straight along the Tm direction on the slope plane; returning to step S11).
The method of claim 30, wherein the step S11) determining whether a robot is traveling along a preset straight path comprises the following steps:

Step S1) establishing a three-dimensional coordinate system on the robot, defining that the traveling direction of the robot is a positive direction of the Y-axis, and defining a direction perpendicular to the plane of the slope as a Z-axis direction; the X-axis and the Y-axis are located a plane parallel to the plane of the slope;

Step S2) defining a standard component vector gxs0, gys0, gzs0 of the gravitational acceleration g in three directions of the three-dimensional coordinate system when the traveling direction of the robot is Ts;

Step S3) generating a standard direction parameter library;

Step S4) controlling the robot to travel straight in any direction Tm along the preset straight line radial direction on the slope plane;

Step S5) extracting standard component vector gxm0, gym0, gzm0 data corresponding to the traveling direction Tm from the standard direction parameter library;

Step S6) collecting a set of real-time direction parameters in real time at regular intervals t, the real-time direction parameters including real-time sub-vectors gxm1, gym1, gzm1 of the gravitational acceleration g in three directions of the three-dimensional coordinate system;

Step S7) calculating a difference vector gxd=gxm1-gxm0 of the real-time component vector of the gravitational acceleration g in the X-axis direction and the standard component vector;

Step S8) determining whether the robot is traveling along a preset straight path; when gxd is equal to 0, determining that the robot travels along a preset straight path, returning to step S106); when gxd is not equal to 0, determining The robot deviates from the preset straight path.
A path navigation method for a robot traveling on a rectangular slope according to claim 31, wherein step S6) and step S7) can also include the following steps:

Step S9) using a magnetic sensor to obtain a real-time traveling direction Tm1;

Step S10) Performing a calibration process on the real-time component vectors gxm1, gym1, gzm1 of the gravitational acceleration g in three directions of the three-dimensional coordinate system according to the real-time traveling direction Tm1.
The path navigation method of the robot traveling on a rectangular slope according to claim 31, wherein the step S3) generates a standard direction parameter library, and specifically includes the following steps:

Step S31) controlling the robot to perform a uniform circular motion along the preset one circular path on the slope plane;

Step S32) During the circular motion of the robot, at least a set of standard direction parameters are collected and recorded in real time at regular intervals t0; each set of standard direction parameters includes a traveling direction Ts of the robot and a corresponding traveling direction. Standard component vectors gxs0, gys0, gzs0;

Step S33) generating a standard direction parameter library according to at least one set of standard direction parameters.
The path navigation method of the robot running on a rectangular slope according to claim 30, wherein the step S12) controlling the robot to deflect in the Tm direction during running comprises the following steps:

Step S121) picking up the actual traveling direction Tn corresponding to the real-time direction parameter in the standard direction parameter library;

Step S122) calculating a deflection direction and a deflection angle that the robot needs to adjust; the deflection angle is an angle between the actual traveling direction Tn and the preset traveling direction Tm;

Step S123) controlling the robot to deflect leftward or rightward according to the deflection direction and the deflection angle that the robot needs to adjust.
The path navigation method of the robot running on a rectangular slope according to claim 28, wherein controlling the robot to perform a U-turn to the left comprises the following steps:

Step S1031) controlling the robot to turn leftward by 90 degrees to the left;

Step S1032) controlling the robot to travel straight for a certain distance, the certain distance being equal to the width of the robot;

Step S1033) Controlling the robot to turn leftward by 90 degrees to the left.
The method for guiding a path of a robot on a rectangular slope according to claim 28, the following steps: controlling the robot to perform a U-turn to the right, specifically comprising the following steps:

Step S1041) controlling the robot to turn to the right by 90 degrees;

Step S1042) controlling the robot to travel straight for a certain distance, the certain distance being equal to the width of the robot;

Step S1043) Controlling the robot to turn to the right by 90 degrees.