Interaction method and system between photovoltaic cleaning robot and multiple base stations

Abstract

The present invention discloses a method and system for interacting with a photovoltaic cleaning robot and multiple base stations, and constructs an interactive system between the photovoltaic cleaning robot and multiple base stations based on the location of the photovoltaic cleaning robot and the spatial locations of multiple base stations. Furthermore, the location of the optimal base station is determined according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot; the moving path of the photovoltaic cleaning robot is determined according to the location of the photovoltaic cleaning robot and the location of the optimal base station; the photovoltaic cleaning robot moves to the location of the optimal base station along the moving path, ensuring that the photovoltaic cleaning robot is compatible with the use of multiple base stations in the cleaning path, avoiding the photovoltaic cleaning robot from returning to the first starting base station multiple times, improving the cleaning efficiency of the photovoltaic cleaning robot, and reducing the number of photovoltaic cleaning robots invested by increasing the number of base stations, thereby reducing costs.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cleaning robots, and in particular to an interaction method and system for a photovoltaic cleaning robot and multiple base stations. Background Art

[0002] With the development of science and technology, photovoltaic cleaning robots are used to clean photovoltaic modules and move in photovoltaic modules. In the prior art, the photovoltaic cleaning robot moves along the cleaning path and dynamically cleans the photovoltaic modules. When the power of the photovoltaic cleaning robot is insufficient, the photovoltaic cleaning robot needs to return to the base station for charging. Generally, one photovoltaic cleaning robot corresponds to one base station. If the cleaning path is large, the photovoltaic cleaning robot needs to answer the first base station at the beginning multiple times, which affects the cleaning efficiency of the photovoltaic cleaning robot. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides an interaction method and system for a photovoltaic cleaning robot and multiple base stations. The method determines a cleaning distribution map according to the cleaning area cleaned by the photovoltaic cleaning robot; determines multiple interaction areas based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot and the model of the photovoltaic cleaning robot; determines the spatial positions of multiple base stations according to the multiple interaction areas and the models of the base stations; and constructs an interaction system between the photovoltaic cleaning robot and the multiple base stations based on the position of the photovoltaic cleaning robot and the spatial positions of the multiple base stations, thereby realizing multi-dimensional control of the position of the photovoltaic cleaning robot and the spatial positions of the multiple base stations, and ensuring the interaction accuracy of the interaction system between the photovoltaic cleaning robot and the multiple base stations.

[0004] Furthermore, during the working process of the photovoltaic cleaning robot, based on the interaction system and the status signal of the photovoltaic cleaning robot, the arrival base station signal of the photovoltaic cleaning robot is triggered; the location of the optimal base station is determined according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations and the remaining work tasks of the photovoltaic cleaning robot; the moving path of the photovoltaic cleaning robot is determined according to the location of the photovoltaic cleaning robot and the location of the optimal base station; the photovoltaic cleaning robot moves along the moving path to the location of the optimal base station, ensuring that the photovoltaic cleaning robot is compatible with the use of multiple base stations in the cleaning path, avoiding the photovoltaic cleaning robot from returning to the first starting base station multiple times, improving the cleaning efficiency of the photovoltaic cleaning robot, and reducing the number of photovoltaic cleaning robots invested by increasing the number of base stations, thereby reducing costs.

[0005] The embodiment of the present invention provides an interaction method between a photovoltaic cleaning robot and multiple base stations, which is applied to the interaction scenario between a photovoltaic cleaning robot and multiple base stations;

[0006] The method for interacting the photovoltaic cleaning robot with multiple base stations comprises:

[0007] Determine a cleaning distribution map according to the cleaning area cleaned by the photovoltaic cleaning robot;

[0008] determining a plurality of interaction areas based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot, and the model of the photovoltaic cleaning robot;

[0009] Determine spatial locations of multiple base stations according to multiple interaction areas and models of base stations;

[0010] Based on the location of the photovoltaic cleaning robot and the spatial locations of multiple base stations, an interaction system between the photovoltaic cleaning robot and multiple base stations is constructed;

[0011] During the working process of the photovoltaic cleaning robot, based on the interactive system, the status signal of the photovoltaic cleaning robot triggers the arrival base station signal of the photovoltaic cleaning robot;

[0012] The optimal base station position is determined based on the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations and the remaining work tasks of the photovoltaic cleaning robot; the moving path of the photovoltaic cleaning robot is determined based on the location of the photovoltaic cleaning robot and the location of the optimal base station; the photovoltaic cleaning robot moves along the moving path to the optimal base station location.

[0013] Optionally, determining the cleaning distribution map according to the cleaning area cleaned by the photovoltaic cleaning robot includes:

[0014] Collect the cleaning area cleaned by the photovoltaic cleaning robot;

[0015] The cleaning distribution map is determined according to the cleaning area cleaned by the photovoltaic cleaning robot and the distribution area of ​​the photovoltaic components.

[0016] Optionally, the determining of the plurality of interaction areas based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot and the model of the photovoltaic cleaning robot includes:

[0017] Collect cleaning distribution map;

[0018] Determine the first area parameter according to the cleaning distribution map and the cleaning path of the photovoltaic cleaning robot;

[0019] Determine the current power of the photovoltaic cleaning robot based on the model of the photovoltaic cleaning robot and the power space of the photovoltaic cleaning robot;

[0020] The second area parameter is determined according to the cleaning distribution map and the current power of the photovoltaic cleaning robot, and a plurality of interactive areas are determined according to the second area parameter and the first area parameter.

[0021] Optionally, determining the spatial positions of the multiple base stations according to the multiple interaction areas and the models of the base stations includes:

[0022] Determine a corresponding area and a corresponding area orientation based on a plurality of interaction areas;

[0023] Determine the first position factor according to the area and orientation of each interactive area;

[0024] Matching the power specifications of the base station based on the model of the base station, determining the second location factor according to the power specifications of the base station, and determining the spatial location of the base station in each interaction area according to the second location factor, the first location factor and the corresponding interaction area;

[0025] The spatial positions of the multiple base stations are determined based on the spatial positions of the base stations in the respective interaction areas.

[0026] Optionally, the step of constructing an interaction system between the photovoltaic cleaning robot and the multiple base stations based on the location of the photovoltaic cleaning robot and the spatial locations of the multiple base stations includes:

[0027] Collect the position signal of the photovoltaic cleaning robot;

[0028] Determine the location of the photovoltaic cleaning robot based on the analysis of the location signal of the photovoltaic cleaning robot;

[0029] Collect the spatial positions of multiple base stations, and exchange the spatial positions of multiple base stations and the positions of the photovoltaic cleaning robots;

[0030] According to the spatial positions of the multiple base stations, the positions of the photovoltaic cleaning robots, the multiple base stations and the photovoltaic cleaning robots, an interaction system between the photovoltaic cleaning robots and the multiple base stations is constructed.

[0031] Optionally, during the working process of the photovoltaic cleaning robot, triggering the arrival base station signal of the photovoltaic cleaning robot based on the interactive system and the status signal of the photovoltaic cleaning robot includes:

[0032] Real-time monitoring of the work of the photovoltaic cleaning robot;

[0033] During the operation of the photovoltaic cleaning robot, the current power of the photovoltaic cleaning robot or the surrounding environment of the photovoltaic cleaning robot is collected;

[0034] Determine a status signal of the photovoltaic cleaning robot according to the current power of the photovoltaic cleaning robot and the surrounding environment of the photovoltaic cleaning robot, wherein the status signal of the photovoltaic cleaning robot includes an abnormal signal and a normal signal;

[0035] The arrival base station signal of the photovoltaic cleaning robot is triggered based on the status signal of the photovoltaic cleaning robot and the control logic of the photovoltaic cleaning robot.

[0036] Optionally, during the working process of the photovoltaic cleaning robot, triggering the arrival base station signal of the photovoltaic cleaning robot based on the interactive system and the status signal of the photovoltaic cleaning robot also includes:

[0037] When the status signal of the photovoltaic cleaning robot is an abnormal signal, corresponding harsh environmental factors are defined based on the detection of the surrounding environment of the photovoltaic cleaning robot, and the first arrival base station signal of the photovoltaic cleaning robot is triggered according to multiple harsh environmental factors, the location of the photovoltaic cleaning robot, and the spatial positions of multiple base stations;

[0038] Alternatively, when the status signal of the photovoltaic cleaning robot is a normal signal, the second arrival base station signal of the photovoltaic cleaning robot is triggered based on the current power of the photovoltaic cleaning robot, the cleaning path of the photovoltaic cleaning robot and the spatial position of the next base station.

[0039] Optionally, the step of determining the optimal base station position according to the arrival base station signal, the position of the photovoltaic cleaning robot, the spatial positions of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot; determining the moving path of the photovoltaic cleaning robot according to the position of the photovoltaic cleaning robot and the position of the optimal base station; and the photovoltaic cleaning robot moving along the moving path to the optimal base station position includes:

[0040] Collect the remaining tasks of the photovoltaic cleaning robot;

[0041] Multiple interactions are performed on the signal arriving at the base station, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot;

[0042] The optimal base station position is determined according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot.

[0043] Optionally, the method further comprises: determining the location of the optimal base station according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot; determining the moving path of the photovoltaic cleaning robot according to the location of the photovoltaic cleaning robot and the location of the optimal base station; and moving the photovoltaic cleaning robot to the location of the optimal base station along the moving path, further comprising:

[0044] Determine the moving path of the photovoltaic cleaning robot according to the location of the photovoltaic cleaning robot and the location of the optimal base station;

[0045] The photovoltaic cleaning robot moves along the moving path to the optimal base station position.

[0046] In addition, an embodiment of the present invention further provides an interactive system between a photovoltaic cleaning robot and multiple base stations, and the interactive system between the photovoltaic cleaning robot and multiple base stations includes:

[0047] A cleaning distribution map module, used to determine a cleaning distribution map according to the cleaning area cleaned by the photovoltaic cleaning robot;

[0048] An interactive area module, used to determine a plurality of interactive areas based on a cleaning distribution map, a cleaning path of the photovoltaic cleaning robot, and a model of the photovoltaic cleaning robot;

[0049] A base station module, used to determine the spatial positions of a plurality of base stations according to a plurality of interaction areas and models of the base stations, wherein the plurality of base stations are at least two base stations;

[0050] An interactive system module is used to construct an interactive system between the photovoltaic cleaning robot and multiple base stations based on the location of the photovoltaic cleaning robot and the spatial locations of multiple base stations;

[0051] The base station arrival module is used to trigger the base station arrival signal between the photovoltaic cleaning robot and the base stations based on the early warning signal of the photovoltaic cleaning robot and the remaining work tasks of the photovoltaic cleaning robot in the interaction system between the photovoltaic cleaning robot and multiple base stations;

[0052] The mobile module is used to determine the moving path of the photovoltaic cleaning robot according to the arrival base station signal, the location of the photovoltaic cleaning robot, and the location of the adjacent base stations; the photovoltaic cleaning robot moves along the moving path to the base station and avoids obstacles in front during the movement.

[0053] In an embodiment of the present invention, through the method in the embodiment of the present invention, a cleaning distribution map is determined according to the cleaning area cleaned by the photovoltaic cleaning robot; multiple interaction areas are determined based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot and the model of the photovoltaic cleaning robot; the spatial positions of multiple base stations are determined according to the multiple interaction areas and the models of the base stations; based on the position of the photovoltaic cleaning robot and the spatial positions of the multiple base stations, an interaction system between the photovoltaic cleaning robot and the multiple base stations is constructed, thereby realizing multi-dimensional control of the position of the photovoltaic cleaning robot and the spatial positions of the multiple base stations, and ensuring the interaction accuracy of the interaction system between the photovoltaic cleaning robot and the multiple base stations.

[0054] Furthermore, during the working process of the photovoltaic cleaning robot, based on the interaction system and the status signal of the photovoltaic cleaning robot, the arrival base station signal of the photovoltaic cleaning robot is triggered; the location of the optimal base station is determined according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations and the remaining work tasks of the photovoltaic cleaning robot; the moving path of the photovoltaic cleaning robot is determined according to the location of the photovoltaic cleaning robot and the location of the optimal base station; the photovoltaic cleaning robot moves along the moving path to the location of the optimal base station, ensuring that the photovoltaic cleaning robot is compatible with the use of multiple base stations in the cleaning path, avoiding the photovoltaic cleaning robot from returning to the first starting base station multiple times, improving the cleaning efficiency of the photovoltaic cleaning robot, and reducing the number of photovoltaic cleaning robots invested by increasing the number of base stations, thereby reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 is a flow chart of an interaction method between a photovoltaic cleaning robot and multiple base stations in an embodiment of the present invention;

[0057] Figure 2 is a flow chart of S11 in the method for interaction between the photovoltaic cleaning robot and multiple base stations in an embodiment of the present invention;

[0058] Figure 3 is a flow chart of S12 in the method for interaction between the photovoltaic cleaning robot and multiple base stations in an embodiment of the present invention;

[0059] Figure 4 is a flow chart of S13 in the method for interaction between the photovoltaic cleaning robot and multiple base stations in an embodiment of the present invention;

[0060] Figure 5 is a flow chart of S14 in the method for interaction between the photovoltaic cleaning robot and multiple base stations in an embodiment of the present invention;

[0061] Figure 6 is a flow chart of S15 in the method for interaction between the photovoltaic cleaning robot and multiple base stations in an embodiment of the present invention;

[0062] Figure 7 is a flow chart of S16 in the method for interaction between the photovoltaic cleaning robot and multiple base stations in an embodiment of the present invention;

[0063] Figure 8 is a schematic diagram of the structure of the interactive system between the photovoltaic cleaning robot and multiple base stations in an embodiment of the present invention;

[0064] Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] See also Figures 1 to 9 , a method for interacting between a photovoltaic cleaning robot and multiple base stations, applied to the interaction scenario between the photovoltaic cleaning robot and multiple base stations; the method for interacting between the photovoltaic cleaning robot and multiple base stations includes:

[0067] Step S11: determining a cleaning distribution map according to the cleaning area cleaned by the photovoltaic cleaning robot;

[0068] Step S12: determining a plurality of interaction areas based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot, and the model of the photovoltaic cleaning robot;

[0069] Step S13: determining spatial locations of a plurality of base stations according to the plurality of interaction areas and the models of the base stations, wherein the plurality of base stations are at least two base stations;

[0070] Step S14: constructing an interaction system between the photovoltaic cleaning robot and the multiple base stations based on the location of the photovoltaic cleaning robot and the spatial locations of the multiple base stations;

[0071] Step S15: in the interactive system between the photovoltaic cleaning robot and multiple base stations, triggering the arrival base station signal between the photovoltaic cleaning robot and the base station based on the early warning signal of the photovoltaic cleaning robot and the remaining work tasks of the photovoltaic cleaning robot;

[0072] Step S16: Determine the moving path of the photovoltaic cleaning robot according to the arrival base station signal, the location of the photovoltaic cleaning robot, and the locations of neighboring base stations; the photovoltaic cleaning robot moves along the moving path to the base station and avoids obstacles in front during the movement.

[0073] In an embodiment of the present invention, through the method in the embodiment of the present invention, a cleaning distribution map is determined according to the cleaning area cleaned by the photovoltaic cleaning robot; multiple interaction areas are determined based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot and the model of the photovoltaic cleaning robot; the spatial positions of multiple base stations are determined according to the multiple interaction areas and the models of the base stations; based on the position of the photovoltaic cleaning robot and the spatial positions of the multiple base stations, an interaction system between the photovoltaic cleaning robot and the multiple base stations is constructed, thereby realizing multi-dimensional control of the position of the photovoltaic cleaning robot and the spatial positions of the multiple base stations, and ensuring the interaction accuracy of the interaction system between the photovoltaic cleaning robot and the multiple base stations.

[0074] Furthermore, during the working process of the photovoltaic cleaning robot, based on the interaction system and the status signal of the photovoltaic cleaning robot, the arrival base station signal of the photovoltaic cleaning robot is triggered; the location of the optimal base station is determined according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations and the remaining work tasks of the photovoltaic cleaning robot; the moving path of the photovoltaic cleaning robot is determined according to the location of the photovoltaic cleaning robot and the location of the optimal base station; the photovoltaic cleaning robot moves along the moving path to the location of the optimal base station, ensuring that the photovoltaic cleaning robot is compatible with the use of multiple base stations in the cleaning path, avoiding the photovoltaic cleaning robot from returning to the first starting base station multiple times, improving the cleaning efficiency of the photovoltaic cleaning robot, and reducing the number of photovoltaic cleaning robots invested by increasing the number of base stations, thereby reducing costs.

[0075] refer to Figure 2 , in step S11, a cleaning distribution map is determined according to the cleaning area cleaned by the photovoltaic cleaning robot;

[0076] In the specific implementation process of the present invention, the specific steps may be:

[0077] S111: collecting the cleaning area cleaned by the photovoltaic cleaning robot;

[0078] S112: Determine a cleaning distribution map according to the cleaning area cleaned by the photovoltaic cleaning robot and the distribution area of ​​the photovoltaic modules.

[0079] In an embodiment of the present application, the cleaning area cleaned by the photovoltaic cleaning robot is collected; a cleaning distribution map is determined based on the cleaning area cleaned by the photovoltaic cleaning robot and the distribution area of ​​the photovoltaic modules, and the cleaning area cleaned by the photovoltaic cleaning robot and the distribution area of ​​the photovoltaic modules are introduced. The cleaning area cleaned by the photovoltaic cleaning robot and the distribution area of ​​the photovoltaic modules are controlled as a whole, and multiple interactions of the cleaning area cleaned by the photovoltaic cleaning robot and the distribution area of ​​the photovoltaic modules are realized, thereby ensuring the accuracy of the cleaning distribution map.

[0080] Optionally, with respect to the cleaning area cleaned by the photovoltaic cleaning robot, spatial signals of the photovoltaic cleaning robot are collected; the task space of the photovoltaic cleaning robot is determined based on the detection of the spatial signals of the photovoltaic cleaning robot, and the task space of the photovoltaic cleaning robot is introduced, and the task space of the photovoltaic cleaning robot is controlled, so as to determine the cleaning task of the photovoltaic cleaning robot based on the traversal of the task space of the photovoltaic cleaning robot, thereby ensuring the accuracy of the cleaning task of the photovoltaic cleaning robot, and then determining the cleaning area cleaned by the photovoltaic cleaning robot according to the cleaning task of the photovoltaic cleaning robot.

[0081] refer to Figure 3 , in step S12, a plurality of interaction areas are determined based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot, and the model of the photovoltaic cleaning robot;

[0082] In the specific implementation process of the present invention, the specific steps may be:

[0083] S121: Collecting a cleaning distribution map;

[0084] S122: Determine a first area parameter according to the cleaning distribution map and a cleaning path of the photovoltaic cleaning robot;

[0085] S123: determining the current power of the photovoltaic cleaning robot based on the model of the photovoltaic cleaning robot and the power space of the photovoltaic cleaning robot;

[0086] S124: Determine a second area parameter according to the cleaning distribution map and the current power of the photovoltaic cleaning robot, and determine a plurality of interactive areas according to the second area parameter and the first area parameter.

[0087] In an embodiment of the present application, a cleaning distribution map is collected and controlled, so as to determine the first area parameters based on the cleaning distribution map and the cleaning path of the photovoltaic cleaning robot. The cleaning distribution map and the cleaning path of the photovoltaic cleaning robot are compatible, and multiple interactions of the cleaning distribution map and the cleaning path of the photovoltaic cleaning robot are realized, thereby ensuring the accuracy of the first area parameters.

[0088] Furthermore, the current power of the photovoltaic cleaning robot is determined based on the model of the photovoltaic cleaning robot and the power space of the photovoltaic cleaning robot; the second area parameters are determined according to the cleaning distribution map and the current power of the photovoltaic cleaning robot, and multiple interaction areas are determined according to the second area parameters and the first area parameters, which is compatible with the overall control of the second area parameters and the first area parameters, realizes multiple interactions of the second area parameters and the first area parameters, and ensures the accuracy of multiple interaction areas.

[0089] refer to Figure 4, in step S13, in the floor cleaning space, the spatial positions of the multiple base stations are determined according to the multiple interaction areas and the models of the base stations, and the multiple base stations are at least two base stations;

[0090] In the specific implementation process of the present invention, the specific steps may be:

[0091] S131: Determine a corresponding area and a corresponding area orientation based on a plurality of interactive areas;

[0092] S132: Determine a first position factor according to the area and orientation of each interactive area;

[0093] S133: Matching the power specification of the base station based on the model of the base station, determining the second location factor according to the power specification of the base station, and determining the spatial location of the base station in each interaction area according to the second location factor, the first location factor and the corresponding interaction area;

[0094] S134: Determine the spatial positions of multiple base stations based on the spatial positions of the base stations in each interaction area.

[0095] In an embodiment of the present application, corresponding regional areas and corresponding regional orientations are determined based on multiple interaction areas, corresponding regional areas and corresponding regional orientations are introduced, and the corresponding regional areas and corresponding regional orientations are further controlled, so that the first position factor is determined according to the regional area and regional orientation of each interaction area, thereby ensuring the accuracy of the first position factor.

[0096] Therefore, the power specifications of the base stations are matched based on the models of the base stations, and the second position factor is determined according to the power specifications of the base stations. The spatial positions of the base stations in each interaction area are determined according to the second position factor, the first position factor and the corresponding interaction areas. The overall consideration of the second position factor, the first position factor and the corresponding interaction areas is compatible, and multiple interactions of the second position factor, the first position factor and the corresponding interaction areas are realized, thereby ensuring the accuracy of the spatial positions of the base stations in each interaction area.

[0097] Furthermore, the spatial positions of multiple base stations are determined based on the spatial positions of the base stations in each interaction area, thereby realizing the control of the spatial positions of the base stations in each interaction area, and ensuring the precise control of the spatial positions of multiple base stations, thereby ensuring the accuracy of the spatial positions of multiple base stations, so as to facilitate subsequent processing of the spatial positions of multiple base stations.

[0098] refer to Figure 5 , S14: constructing an interaction system between the photovoltaic cleaning robot and the multiple base stations based on the location of the photovoltaic cleaning robot and the spatial locations of the multiple base stations;

[0099] In the specific implementation process of the present invention, the specific steps may be:

[0100] S141: collecting the position signal of the photovoltaic cleaning robot;

[0101] S142: determining the location of the photovoltaic cleaning robot according to the analysis of the location signal of the photovoltaic cleaning robot;

[0102] S143: collecting spatial positions of multiple base stations, and exchanging the spatial positions of the multiple base stations and the position of the photovoltaic cleaning robot;

[0103] S144: Constructing an interaction system between the photovoltaic cleaning robot and the multiple base stations according to the spatial positions of the multiple base stations, the position of the photovoltaic cleaning robot, the multiple base stations and the photovoltaic cleaning robot.

[0104] In an embodiment of the present application, a cleaning distribution map is determined according to the cleaning area cleaned by the photovoltaic cleaning robot; multiple interaction areas are determined based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot and the model of the photovoltaic cleaning robot; the spatial positions of multiple base stations are determined according to the multiple interaction areas and the models of the base stations; and an interaction system between the photovoltaic cleaning robot and the multiple base stations is constructed based on the position of the photovoltaic cleaning robot and the spatial positions of the multiple base stations, thereby achieving multi-dimensional control of the position of the photovoltaic cleaning robot and the spatial positions of the multiple base stations, and ensuring the interaction accuracy of the interaction system between the photovoltaic cleaning robot and the multiple base stations.

[0105] At this time, the position signal of the photovoltaic cleaning robot is collected, the position signal of the photovoltaic cleaning robot is introduced, and the position signal of the photovoltaic cleaning robot is controlled, so that the position of the photovoltaic cleaning robot is determined according to the analysis of the position signal of the photovoltaic cleaning robot, the analysis of the position signal of the photovoltaic cleaning robot is realized, and the accuracy of the position of the photovoltaic cleaning robot is ensured.

[0106] Furthermore, the spatial positions of multiple base stations are collected, and the spatial positions of multiple base stations and the positions of the photovoltaic cleaning robots are interacted with; an interaction system between the photovoltaic cleaning robot and multiple base stations is constructed based on the spatial positions of multiple base stations, the positions of the photovoltaic cleaning robots, multiple base stations and the photovoltaic cleaning robots, which is compatible with the overall consideration of the spatial positions of multiple base stations, the positions of the photovoltaic cleaning robots, multiple base stations and the photovoltaic cleaning robots, realizes multi-dimensional control of the positions of the photovoltaic cleaning robots and the spatial positions of multiple base stations, and ensures the interaction accuracy of the interaction system between the photovoltaic cleaning robots and multiple base stations.

[0107] refer to Figure 6, S15: in the interactive system between the photovoltaic cleaning robot and multiple base stations, triggering the arrival base station signal of the photovoltaic cleaning robot and the base station based on the early warning signal of the photovoltaic cleaning robot and the remaining work tasks of the photovoltaic cleaning robot;

[0108] In the specific implementation process of the present invention, the specific steps may be:

[0109] S151: Real-time monitoring of the work of the photovoltaic cleaning robot;

[0110] S152: during the working process of the photovoltaic cleaning robot, collecting the current power of the photovoltaic cleaning robot or the surrounding environment of the photovoltaic cleaning robot;

[0111] S153: determining a status signal of the photovoltaic cleaning robot according to the current power of the photovoltaic cleaning robot and the surrounding environment of the photovoltaic cleaning robot, wherein the status signal of the photovoltaic cleaning robot includes an abnormal signal and a normal signal;

[0112] S154: triggering a base station arrival signal of the photovoltaic cleaning robot based on the status signal of the photovoltaic cleaning robot and the control logic of the photovoltaic cleaning robot;

[0113] S155: when the status signal of the photovoltaic cleaning robot is an abnormal signal, a corresponding harsh environmental factor is defined based on the detection of the surrounding environment of the photovoltaic cleaning robot, and a first arrival base station signal of the photovoltaic cleaning robot is triggered according to multiple harsh environmental factors, the location of the photovoltaic cleaning robot, and the spatial locations of multiple base stations;

[0114] Alternatively, when the status signal of the photovoltaic cleaning robot is a normal signal, the second arrival base station signal of the photovoltaic cleaning robot is triggered based on the current power of the photovoltaic cleaning robot, the cleaning path of the photovoltaic cleaning robot and the spatial position of the next base station.

[0115] In an embodiment of the present application, the operation of the photovoltaic cleaning robot is monitored in real time and controlled; at the same time, during the operation of the photovoltaic cleaning robot, the current power of the photovoltaic cleaning robot or the surrounding environment of the photovoltaic cleaning robot is collected and introduced, and the current power of the photovoltaic cleaning robot or the surrounding environment of the photovoltaic cleaning robot is further processed.

[0116] At this time, the status signal of the photovoltaic cleaning robot is determined according to the current power of the photovoltaic cleaning robot and the surrounding environment of the photovoltaic cleaning robot. The status signal of the photovoltaic cleaning robot includes abnormal signals and normal signals, and is compatible with abnormal signals and normal signals, and overall control is performed on abnormal signals and normal signals.

[0117] Furthermore, it is compatible with the overall consideration of the current power of the photovoltaic cleaning robot and the surrounding environment of the photovoltaic cleaning robot, realizes the multiple interactions of the current power of the photovoltaic cleaning robot and the surrounding environment of the photovoltaic cleaning robot, ensures the accuracy of the status signal of the photovoltaic cleaning robot, and at the same time, performs corresponding targeted control of abnormal signals and normal signals.

[0118] Therefore, based on the status signal of the photovoltaic cleaning robot and the control logic of the photovoltaic cleaning robot, the arrival signal of the photovoltaic cleaning robot is triggered, the status signal of the photovoltaic cleaning robot and the control logic of the photovoltaic cleaning robot are introduced, and the status signal of the photovoltaic cleaning robot and the control logic of the photovoltaic cleaning robot are controlled to ensure the triggering of the arrival signal of the photovoltaic cleaning robot, and realize the output of the arrival signal of the photovoltaic cleaning robot.

[0119] At this time, when the status signal of the photovoltaic cleaning robot is an abnormal signal, the corresponding harsh environmental factors are defined based on the detection of the surrounding environment of the photovoltaic cleaning robot, and the first arrival base station signal of the photovoltaic cleaning robot is triggered according to multiple harsh environmental factors, the location of the photovoltaic cleaning robot, and the spatial positions of multiple base stations;

[0120] At this time, when the status signal of the photovoltaic cleaning robot is a normal signal, the second arrival base station signal of the photovoltaic cleaning robot is triggered based on the current power of the photovoltaic cleaning robot, the cleaning path of the photovoltaic cleaning robot and the spatial position of the next base station.

[0121] refer to Figure 7 , S16: determining a moving path of the photovoltaic cleaning robot according to the arrival base station signal, the location of the photovoltaic cleaning robot, and the location of the neighboring base stations; the photovoltaic cleaning robot moves along the moving path to the base station, and avoids obstacles in front during the movement;

[0122] In the specific implementation process of the present invention, the specific steps may be:

[0123] S161: Collect the remaining work tasks of the photovoltaic cleaning robot;

[0124] S162: Perform multiple interactions on the signal arriving at the base station, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot;

[0125] S163: Determine the optimal base station location according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot;

[0126] S164: Determine a moving path of the photovoltaic cleaning robot according to the location of the photovoltaic cleaning robot and the location of the optimal base station;

[0127] S165: The photovoltaic cleaning robot moves along the moving path to the optimal base station position.

[0128] In the specific implementation process of the present invention, further, during the working process of the photovoltaic cleaning robot, based on the interaction system and the status signal of the photovoltaic cleaning robot, the arrival base station signal of the photovoltaic cleaning robot is triggered; the location of the optimal base station is determined according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations and the remaining work tasks of the photovoltaic cleaning robot; the moving path of the photovoltaic cleaning robot is determined according to the location of the photovoltaic cleaning robot and the location of the optimal base station; the photovoltaic cleaning robot moves along the moving path to the location of the optimal base station, ensuring that the photovoltaic cleaning robot is compatible with the use of multiple base stations in the cleaning path, avoiding the photovoltaic cleaning robot from returning to the first starting base station multiple times, improving the cleaning efficiency of the photovoltaic cleaning robot, and reducing the number of photovoltaic cleaning robots invested by increasing the number of base stations, thereby reducing costs.

[0129] At this time, the remaining work tasks of the photovoltaic cleaning robot are collected and introduced, and the remaining work tasks of the photovoltaic cleaning robot are managed and controlled. At the same time, multiple interactions are performed on the signal arriving at the base station, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot, thereby achieving multi-dimensional control of the signal arriving at the base station, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot.

[0130] Therefore, the location of the optimal base station is determined based on the arriving base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations and the remaining work tasks of the photovoltaic cleaning robot, thereby ensuring the accuracy of the location of the optimal base station and achieving precise control of the location of the optimal base station.

[0131] At the same time, the moving path of the photovoltaic cleaning robot is determined according to the location of the photovoltaic cleaning robot and the location of the optimal base station; the photovoltaic cleaning robot moves along the moving path to the location of the optimal base station, ensuring that the photovoltaic cleaning robot is compatible with the use of multiple base stations in the cleaning path, avoiding the photovoltaic cleaning robot from returning to the first starting base station multiple times, improving the cleaning efficiency of the photovoltaic cleaning robot, and reducing the number of photovoltaic cleaning robots by increasing the number of base stations, thereby reducing costs.

[0132] In an embodiment of the present invention, through the method in the embodiment of the present invention, a cleaning distribution map is determined according to the cleaning area cleaned by the photovoltaic cleaning robot; multiple interaction areas are determined based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot and the model of the photovoltaic cleaning robot; the spatial positions of multiple base stations are determined according to the multiple interaction areas and the models of the base stations; based on the position of the photovoltaic cleaning robot and the spatial positions of the multiple base stations, an interaction system between the photovoltaic cleaning robot and the multiple base stations is constructed, thereby realizing multi-dimensional control of the position of the photovoltaic cleaning robot and the spatial positions of the multiple base stations, and ensuring the interaction accuracy of the interaction system between the photovoltaic cleaning robot and the multiple base stations.

[0133] Furthermore, during the working process of the photovoltaic cleaning robot, based on the interaction system and the status signal of the photovoltaic cleaning robot, the arrival base station signal of the photovoltaic cleaning robot is triggered; the location of the optimal base station is determined according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations and the remaining work tasks of the photovoltaic cleaning robot; the moving path of the photovoltaic cleaning robot is determined according to the location of the photovoltaic cleaning robot and the location of the optimal base station; the photovoltaic cleaning robot moves along the moving path to the location of the optimal base station, ensuring that the photovoltaic cleaning robot is compatible with the use of multiple base stations in the cleaning path, avoiding the photovoltaic cleaning robot from returning to the first starting base station multiple times, improving the cleaning efficiency of the photovoltaic cleaning robot, and reducing the number of photovoltaic cleaning robots invested by increasing the number of base stations, thereby reducing costs.

[0134] See also Figure 8 , Figure 8 It is a schematic diagram of the structural composition of the interactive system between the photovoltaic cleaning robot and multiple base stations in an embodiment of the present invention.

[0135] like Figure 8 As shown, an interactive system between a photovoltaic cleaning robot and multiple base stations, the interactive system between the photovoltaic cleaning robot and multiple base stations includes:

[0136] A cleaning distribution map module 21 is used to determine a cleaning distribution map according to the cleaning area cleaned by the photovoltaic cleaning robot;

[0137] An interactive area module 22, for determining a plurality of interactive areas based on a cleaning distribution map, a cleaning path of the photovoltaic cleaning robot, and a model of the photovoltaic cleaning robot;

[0138] The base station module 23 is used to determine the spatial positions of multiple base stations according to the multiple interaction areas and the models of the base stations, where the multiple base stations are at least two base stations;

[0139] An interactive system module 24 is used to construct an interactive system between the photovoltaic cleaning robot and the multiple base stations based on the location of the photovoltaic cleaning robot and the spatial locations of the multiple base stations;

[0140] The base station arrival module 25 is used to trigger the base station arrival signal between the photovoltaic cleaning robot and the base stations based on the early warning signal of the photovoltaic cleaning robot and the remaining work tasks of the photovoltaic cleaning robot in the interaction system between the photovoltaic cleaning robot and multiple base stations;

[0141] The mobile module 26 is used to determine the moving path of the photovoltaic cleaning robot according to the arrival base station signal, the location of the photovoltaic cleaning robot, and the location of the adjacent base stations; the photovoltaic cleaning robot moves along the moving path to the base station and avoids obstacles in front during the movement.

[0142] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0143] like Fig. 9 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0144] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0145] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0146] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0147] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0148] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0149] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a multi-parameter sensor device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0150] Those skilled in the art can understand that all or some of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0151] In addition, the above describes in detail the interaction method and system between the photovoltaic cleaning robot and multiple base stations provided in the embodiments of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. For those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for interaction between a photovoltaic cleaning robot and multiple base stations, characterized in that: Applied to the interaction scenarios between photovoltaic cleaning robots and multiple base stations; The method for interacting the photovoltaic cleaning robot with multiple base stations comprises: Determine a cleaning distribution map according to the cleaning area cleaned by the photovoltaic cleaning robot; determining a plurality of interaction areas based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot, and the model of the photovoltaic cleaning robot; Determine spatial locations of multiple base stations according to multiple interaction areas and models of base stations; Based on the location of the photovoltaic cleaning robot and the spatial locations of multiple base stations, an interaction system between the photovoltaic cleaning robot and multiple base stations is constructed; During the working process of the photovoltaic cleaning robot, based on the interactive system, the status signal of the photovoltaic cleaning robot triggers the arrival base station signal of the photovoltaic cleaning robot; The optimal base station position is determined based on the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations and the remaining work tasks of the photovoltaic cleaning robot; the moving path of the photovoltaic cleaning robot is determined based on the location of the photovoltaic cleaning robot and the location of the optimal base station; the photovoltaic cleaning robot moves along the moving path to the optimal base station location.

2. The method for interaction between a photovoltaic cleaning robot and multiple base stations according to claim 1, characterized in that: The step of determining a cleaning distribution map according to the cleaning area cleaned by the photovoltaic cleaning robot comprises: Collect the cleaning area cleaned by the photovoltaic cleaning robot; The cleaning distribution map is determined according to the cleaning area cleaned by the photovoltaic cleaning robot and the distribution area of ​​the photovoltaic components.

3. The method for interaction between a photovoltaic cleaning robot and multiple base stations according to claim 2, characterized in that: The determining of the plurality of interaction areas based on the cleaning distribution map, the cleaning path of the photovoltaic cleaning robot and the model of the photovoltaic cleaning robot includes: Collect cleaning distribution map; Determine the first area parameter according to the cleaning distribution map and the cleaning path of the photovoltaic cleaning robot; Determine the current power of the photovoltaic cleaning robot based on the model of the photovoltaic cleaning robot and the power space of the photovoltaic cleaning robot; The second area parameter is determined according to the cleaning distribution map and the current power of the photovoltaic cleaning robot, and a plurality of interactive areas are determined according to the second area parameter and the first area parameter.

4. The method for interaction between a photovoltaic cleaning robot and multiple base stations according to claim 1, characterized in that: The determining of the spatial positions of the plurality of base stations according to the plurality of interaction areas and the models of the base stations includes: Determine a corresponding area and a corresponding area orientation based on a plurality of interaction areas; Determine the first position factor according to the area and orientation of each interactive area; Matching the power specifications of the base station based on the model of the base station, determining the second location factor according to the power specifications of the base station, and determining the spatial location of the base station in each interaction area according to the second location factor, the first location factor and the corresponding interaction area; The spatial positions of the multiple base stations are determined based on the spatial positions of the base stations in the respective interaction areas.

5. The method for interaction between a photovoltaic cleaning robot and multiple base stations according to claim 4, characterized in that: The interactive system between the photovoltaic cleaning robot and the multiple base stations is constructed based on the location of the photovoltaic cleaning robot and the spatial locations of the multiple base stations, including: Collect the position signal of the photovoltaic cleaning robot; Determine the location of the photovoltaic cleaning robot based on the analysis of the location signal of the photovoltaic cleaning robot; Collect the spatial positions of multiple base stations, and exchange the spatial positions of multiple base stations and the positions of the photovoltaic cleaning robots; According to the spatial positions of the multiple base stations, the positions of the photovoltaic cleaning robots, the multiple base stations and the photovoltaic cleaning robots, an interaction system between the photovoltaic cleaning robots and the multiple base stations is constructed.

6. The method for interaction between a photovoltaic cleaning robot and multiple base stations according to claim 5, characterized in that: In the working process of the photovoltaic cleaning robot, based on the interactive system and the status signal of the photovoltaic cleaning robot, the photovoltaic cleaning robot's arrival base station signal is triggered, including: Real-time monitoring of the work of the photovoltaic cleaning robot; During the operation of the photovoltaic cleaning robot, the current power of the photovoltaic cleaning robot or the surrounding environment of the photovoltaic cleaning robot is collected; Determine a status signal of the photovoltaic cleaning robot according to the current power of the photovoltaic cleaning robot and the surrounding environment of the photovoltaic cleaning robot, wherein the status signal of the photovoltaic cleaning robot includes an abnormal signal and a normal signal; The arrival base station signal of the photovoltaic cleaning robot is triggered based on the status signal of the photovoltaic cleaning robot and the control logic of the photovoltaic cleaning robot.

7. The method for interaction between a photovoltaic cleaning robot and multiple base stations according to claim 6, characterized in that: In the working process of the photovoltaic cleaning robot, based on the interactive system and the status signal of the photovoltaic cleaning robot, the photovoltaic cleaning robot is triggered to arrive at the base station signal, and further includes: When the status signal of the photovoltaic cleaning robot is an abnormal signal, corresponding harsh environmental factors are defined based on the detection of the surrounding environment of the photovoltaic cleaning robot, and the first arrival base station signal of the photovoltaic cleaning robot is triggered according to multiple harsh environmental factors, the location of the photovoltaic cleaning robot, and the spatial positions of multiple base stations; Alternatively, when the status signal of the photovoltaic cleaning robot is a normal signal, the second arrival base station signal of the photovoltaic cleaning robot is triggered based on the current power of the photovoltaic cleaning robot, the cleaning path of the photovoltaic cleaning robot and the spatial position of the next base station.

8. The method for interaction between a photovoltaic cleaning robot and multiple base stations according to claim 7, characterized in that: The optimal base station position is determined according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot; the moving path of the photovoltaic cleaning robot is determined according to the location of the photovoltaic cleaning robot and the location of the optimal base station; The photovoltaic cleaning robot moves along the moving path to the optimal base station position, including: Collect the remaining tasks of the photovoltaic cleaning robot; Multiple interactions are performed on the signal arriving at the base station, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot; The optimal base station position is determined according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot.

9. The method for interaction between a photovoltaic cleaning robot and multiple base stations according to claim 8, characterized in that: The optimal base station position is determined according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations, and the remaining work tasks of the photovoltaic cleaning robot; the moving path of the photovoltaic cleaning robot is determined according to the location of the photovoltaic cleaning robot and the location of the optimal base station; The photovoltaic cleaning robot moves along the moving path to the optimal base station position, and also includes: Determine the moving path of the photovoltaic cleaning robot according to the location of the photovoltaic cleaning robot and the location of the optimal base station; The photovoltaic cleaning robot moves along the moving path to the optimal base station position.

10. An interactive system between a photovoltaic cleaning robot and multiple base stations, characterized in that: The interactive system between the photovoltaic cleaning robot and multiple base stations is applied to the interactive method between the photovoltaic cleaning robot and multiple base stations as claimed in any one of claims 1 to 9, and the interactive system between the photovoltaic cleaning robot and multiple base stations includes: A cleaning distribution map module, used to determine a cleaning distribution map according to the cleaning area cleaned by the photovoltaic cleaning robot; An interactive area module, used to determine a plurality of interactive areas based on a cleaning distribution map, a cleaning path of the photovoltaic cleaning robot, and a model of the photovoltaic cleaning robot; A base station module, used to determine the spatial locations of multiple base stations according to multiple interaction areas and models of base stations; The interactive system module builds an interactive system between the photovoltaic cleaning robot and multiple base stations based on the location of the photovoltaic cleaning robot and the spatial locations of multiple base stations; The base station arrival module is used to trigger the base station arrival signal of the photovoltaic cleaning robot based on the interactive system and the status signal of the photovoltaic cleaning robot during the working process of the photovoltaic cleaning robot; The mobile module is used to determine the optimal base station position according to the arrival base station signal, the location of the photovoltaic cleaning robot, the spatial locations of multiple base stations and the remaining work tasks of the photovoltaic cleaning robot; determine the moving path of the photovoltaic cleaning robot according to the location of the photovoltaic cleaning robot and the location of the optimal base station; the photovoltaic cleaning robot moves to the optimal base station position along the moving path.

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