Method, device and equipment for presetting photovoltaic scene map by robot

Abstract

The invention provides a method, device and equipment for presetting a photovoltaic scene map by a robot. The method comprises the following steps: splitting a photovoltaic scene into three types of units, namely a station unit, a bridge unit and an array unit; a map composed of sites, bridges or arrays is set and created in sequence through a terminal software interaction interface according to a field scene, and a starting instruction is sent to control the photovoltaic cleaning robot to execute a cleaning task according to a preset map path; the method at least has the following beneficial effects: a photovoltaic scene is divided into three types of units including stations, bridges and arrays from three elements of points, lines and planes; therefore, in field operation, through reasonable setting and switching of the preset map, risks possibly causing abnormity and danger are avoided, a customized moving path and a cleaning area are provided, the applicability of the photovoltaic cleaning robot is improved, the automation degree of the photovoltaic cleaning robot is improved, autonomous operation movement of a photovoltaic array scene is achieved, and the cleaning efficiency is improved. Finally, manpower is saved and power station maintenance cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic cleaning technology, specifically to a method, apparatus, and equipment for robots to pre-set photovoltaic scene maps. Background Technology

[0002] Solar photovoltaic (PV) technology, as a renewable and clean energy source, has become a significant force in the global energy transformation. The surface of solar panels easily accumulates dirt such as sand and dust. Without timely and professional cleaning, this can lead to a 40%-60% reduction in module power output and a 20%-30% decrease in overall power generation. Therefore, the concept of improving power plant output and efficiency through proper and scientific cleaning of solar panels and meticulous maintenance of the modules has gained industry recognition.

[0003] Photovoltaic power plants are typically composed of several photovoltaic arrays. When using automated photovoltaic cleaning robots for cleaning operations, the robots cannot cross the reserved passageways between photovoltaic arrays. The robots must be moved manually to different photovoltaic arrays for cleaning operations. Therefore, the number of times the equipment is moved during use is relatively large, which reduces cleaning efficiency and increases the burden on workers.

[0004] Photovoltaic power plants typically have obstacles around the module arrays, or various waterproof channels, cable trays, and fixing brackets installed along their edges. Foreign objects and improper installation at the module array edges can cause photovoltaic cleaning robots to misjudge the edges, requiring manual intervention when the machine is near the module array edges. This results in frequent manual interventions, reducing cleaning efficiency and increasing the workload for workers.

[0005] In the operation and management of photovoltaic power stations, it is usually stipulated that no one may enter the photovoltaic power station management area without permission. Some companies advocate the operation and management mode of "unmanned operation and minimal staffing". Therefore, in addition to self-cleaning within the area, it is also necessary to charge within the photovoltaic power station to meet the needs of continuous operation, reduce the number of manual interventions, and reduce personnel safety hazards. Summary of the Invention

[0006] The purpose of this application is to provide a method, apparatus, and device for pre-setting photovoltaic scene maps for robots, which can solve at least one of the technical problems mentioned above. The specific solution is as follows:

[0007] According to a specific embodiment of this application, in a first aspect, this application provides a method for a robot to preset a photovoltaic scene map, the method comprising:

[0008] The photovoltaic scenario is divided into three types of units: site units, bridge units, and array units.

[0009] Based on the actual scene, a map consisting of sites, bridges, or arrays is created sequentially through the terminal software interface. A start command is sent to control the photovoltaic cleaning robot to perform cleaning tasks according to the preset map path.

[0010] Preferably, the photovoltaic scene is divided using three elements: points, lines, and surfaces.

[0011] Preferably, the site unit includes a charging station and a transfer station, and the site unit is used for charging, heat dissipation, storage and transfer.

[0012] Preferably, the bridge unit includes a connecting bridge with a single guide line or a continuous linear plane composed of photovoltaic modules, used to connect and move to different target units.

[0013] Preferably, the connecting bridge uses white tape with a width of 4-6mm as a guide line and is centered on the black bridge surface to simplify the texture of the bridge surface and simulate and highlight the spacing stripes between the photovoltaic module cells.

[0014] Preferably, the array unit is a rectangular array of photovoltaic modules with uniform type and specifications, placement direction, and minimal misalignment.

[0015] Preferably, the terminal is a mobile phone, tablet computer, industrial control terminal, smart display, cloud platform, or wearable device.

[0016] The device for pre-setting a photovoltaic scene map for the robot includes:

[0017] The target recognition and localization module is used to identify and locate sites, bridges, and array elements in photovoltaic scenarios.

[0018] The graphics library module is a library or framework for handling graphics and user interface elements;

[0019] Scene building module: Used to create and build preset scene maps, including adding, deleting, and editing stations, bridges, and array elements in the scene;

[0020] The regional division module divides photovoltaic areas according to specific standards and rules;

[0021] Location positioning module: used to acquire and manage the location coordinates of each station in the scene;

[0022] The path planning and navigation module is used to perform path planning and navigation in photovoltaic scenarios based on obstacles and site location information in the scenario;

[0023] The data analysis and visualization module is used to analyze and visualize data from photovoltaic systems.

[0024] Drawing and rendering module: A module used to draw the scene map onto the screen or other output devices;

[0025] Interaction and Operation Module: Used to handle user interaction and operations with the scene map;

[0026] The map building module is used to transform the collected data into scene maps and to create, update, and maintain these maps.

[0027] The device for pre-setting a photovoltaic scene map for the robot includes sensors, a processor, a cleaning system, a positioning system, and a memory storing the photovoltaic scene map. When the cleaning system is operated by the processor to work along the photovoltaic scene map, it executes the method described in any of the above-mentioned embodiments.

[0028] Compared with the prior art, the above-described solution of this application embodiment has at least the following beneficial effects: the photovoltaic scene is divided into three types of units: site, bridge and array, based on the three elements of point, line and surface; therefore, in actual operation, by reasonably setting and switching preset maps, risks that may cause abnormalities and dangers can be avoided, and customized movement paths and cleaning areas are provided, improving the applicability of photovoltaic cleaning robots and increasing the degree of automation of photovoltaic cleaning robots, so as to achieve autonomous operation and movement of photovoltaic array scene, and ultimately save manpower and reduce power station maintenance costs. Attached Figure Description

[0029] Figure 1 A schematic diagram of scenario one according to an embodiment of this application is shown;

[0030] Figure 2 A schematic diagram of scenario two according to an embodiment of this application is shown;

[0031] Figure 3 A partial schematic diagram of scenario two according to an embodiment of this application is shown;

[0032] Figure 4 The "ground" according to an embodiment of this application is shown. Figure 2 The map unit table. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0035] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0036] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0037] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0038] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0039] It should be noted that any symbols and / or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0040] The optional embodiments of this application are described in detail below with reference to the accompanying drawings.

[0041] The embodiments provided in this application, namely, embodiments of the method for a robot to preset a photovoltaic scene map;

[0042] The method for pre-setting a photovoltaic scene map for a robot includes steps S101 and S102;

[0043] The method includes: dividing the photovoltaic scene into three types of units: site units, bridge units, and array units; creating a map consisting of sites, bridges, or arrays in sequence through the terminal software interface according to the actual scene; and sending a start command to control the photovoltaic cleaning robot to perform cleaning tasks according to the preset map path.

[0044] Step S101: The photovoltaic scene is divided into three types of units: site units, bridge units, and array units using the three elements of points, lines, and surfaces. The site units include charging stations and transfer stations, which are used for charging, heat dissipation, storage, and transfer. The bridge units include connecting bridges with a single guide line or continuous linear planes composed of photovoltaic modules, which are used to connect and move to different target units. The connecting bridges use white tape with a width of 4-6mm as a guide line and are centered on the black bridge surface to simplify the texture of the bridge surface and simulate and highlight the spacing stripes between the photovoltaic module cells. The array units are rectangular arrays of photovoltaic modules with uniform type and specifications, placement direction, and small misalignment.

[0045] Step S102: Based on the actual scene, create a map consisting of sites, bridges, or arrays in sequence through the software interface of a mobile phone, tablet, industrial control terminal, smart display, cloud platform, or wearable device, and send a start command to control the photovoltaic cleaning robot to perform cleaning tasks according to the preset map path.

[0046] It should be noted that the map interface provides an option to define an array; users can select multiple sites and combine them into an array; the array configuration can be regular, linear, or other forms, depending on the specific design requirements; a preset path should be set, providing an interface or command for the photovoltaic cleaning robot to allow users to set preset cleaning paths; users can specify the path the robot moves on the map, including walking along bridges and connections between sites; the interface should provide sufficient flexibility so that users can define complex paths; a button or command should be designed to send a start command to control the photovoltaic cleaning robot to perform cleaning tasks according to the preset map path; the interface should provide status and progress tracking functions so that users can monitor the execution of tasks; interaction and error handling should be set up, providing interaction and error handling mechanisms in the interface so that users can operate easily and receive timely feedback and correction.

[0047] The device for pre-setting a photovoltaic scene map for the robot includes:

[0048] The target recognition and localization module is used to identify and locate sites, bridges, and array elements in photovoltaic scenarios.

[0049] The graphics library module is a library or framework for handling graphics and user interface elements;

[0050] Scene building module: Used to create and build preset scene maps, including adding, deleting, and editing stations, bridges, and array elements in the scene;

[0051] The regional division module divides photovoltaic areas according to specific standards and rules;

[0052] Location positioning module: used to acquire and manage the location coordinates of each station in the scene;

[0053] The path planning and navigation module is used to perform path planning and navigation in photovoltaic scenarios based on obstacles and site location information in the scenario;

[0054] The data analysis and visualization module is used to analyze and visualize data from photovoltaic systems.

[0055] Drawing and rendering module: A module used to draw the scene map onto the screen or other output devices;

[0056] Interaction and Operation Module: Used to handle user interaction and operations with the scene map;

[0057] The map building module is used to transform the collected data into scene maps and to create, update, and maintain these maps.

[0058] The device for pre-setting a photovoltaic scene map for the robot includes sensors, a processor, a cleaning system, a positioning system, and a memory storing the photovoltaic scene map. When the cleaning system is operated by the processor to work along the photovoltaic scene map, it executes the method described in any of the above-mentioned items.

[0059] It should be noted that the sensors can be, for example, vision sensors, distance sensors, and pressure sensors; they are used to perceive the surrounding environment and the robot's position. Vision sensors can identify the location and level of dirt on the photovoltaic modules, distance sensors can measure the distance between the robot and the photovoltaic modules, and pressure sensors can detect the force applied by the robot to the photovoltaic modules. The processor is the control center of the robot, i.e., the photovoltaic cleaning robot. It receives data from the sensors and makes decisions on the robot's movement and cleaning operations based on preset cleaning paths and algorithms. The processor is responsible for executing the robot's navigation, path planning, obstacle avoidance, and cleaning procedures. The cleaning system includes cleaning devices, such as brushes and water sprayers, used to remove dirt and dust from the surface of the photovoltaic modules. The cleaning device is typically controlled by a processor and automatically performs cleaning operations according to the requirements of the cleaning task. The cleaning system is designed to minimize damage to the photovoltaic modules while ensuring cleaning effectiveness. The positioning system is used to determine the accurate location of the photovoltaic cleaning robot in the photovoltaic scene. Common positioning technologies include Global Positioning System (GPS), odometry, inertial measurement unit, and visual recognition. The positioning system provides accurate location information, enabling the robot to move and operate according to a preset cleaning path. The memory is used to store a map of the photovoltaic scene and other data related to the task and configuration. The map data includes the location and connection relationships of sites, bridges, and arrays. The memory can also be used to store cleaning records, task plans, and robot working status information.

[0060] The following is in conjunction with the appendix Figure 1-4 The embodiments of this application will be described in detail.

[0061] The preset map mainly helps the photovoltaic cleaning robot avoid unnecessary interference and danger, and connects multiple photovoltaic arrays through bridges and stations to form a cleaning area that maximizes the area and is sustainable.

[0062] Scene as Figure 1 As shown, a rectangular array of 2 rows and 10 columns is formed by vertically arranging 20 full-cell / 5BB / 156mm / 60PCS photovoltaic modules. Assuming that in a real-world scenario, obstacles such as walls or cable trays near the array edges interfere with the photovoltaic cleaning robot's edge detection, or assuming the array is installed on a rooftop or at a height where there are dangerous edges, a pre-set map is used to position the photovoltaic cleaning robot within the rectangular array for operation, avoiding unnecessary interference and hazards.

[0063] Create a new array unit named "Array 1" using a mobile application or other interactive interface, and set its parameters according to the actual scenario. Set the component type to full-size / 5BB / 156mm / 60PCS, the component placement orientation to vertical, the cleaning direction to the right, the number of component rows to 2, the number of component columns to 10, the parking mode to start-up parking, and the cleaning area to the entire array. Create another new array unit named "Ground". Figure 1 The map is modified so that a new array cell "Array 1" is added and saved. The photovoltaic cleaning robot is set to a fixed map path mode and the "Ground" option is selected. Figure 1 The photovoltaic cleaning robot starts autonomous operation based on the preset map.

[0064] The photovoltaic cleaning robot uses the module type and placement orientation as its route type standard. It climbs to the top of the array according to the entire cleaning area and the number of module rows, then turns right to begin lateral cleaning. With 10 module rows set, it uses odometer and gap-crossing calculations for positioning. Before reaching the right edge of the 10th column of modules and after the brush has covered the right edge, it turns and continues lateral cleaning to the left, repeating this process to completely cover the first row of the array. It then turns downwards to enter the second row, repeating the lateral cleaning process to completely cover the second row, thus completing the cleaning of all array areas. Finally, according to the set starting point parking mode, it stops at the starting point, completing the array unit task and the preset map task.

[0065] Scenario 2 Figure 2 As shown, the photovoltaic cleaning robot starts at a charging station and is then connected via a 0.45m bridge to the left side of a first rectangular array consisting of 10 vertically arranged photovoltaic modules (10 full-cell / 5BB / 156mm / 60PCS each) in 2 rows and 5 columns. On the right side of the first rectangular array, it is connected via the same 0.45m bridge to a second rectangular array consisting of the same 10 vertically arranged photovoltaic modules (10 full-cell / 5BB / 156mm / 60PCS each) in 2 rows and 5 columns. The goal is to remotely start the photovoltaic cleaning robot to autonomously clean both photovoltaic arrays, and then return to the charging station to recharge and standby. This will allow the robot to connect multiple photovoltaic arrays via bridges and charging stations, creating a maximized and sustainable cleaning area.

[0066] The pre-set operation sequence is as follows: First, the robot rotates 180° from the charging station and exits. It then crosses connecting bridge one to reach the starting point of array two, beginning cleaning array two with its fuselage facing upwards. In the adjacent corner parking mode, after cleaning, it stops on the right side of array two, turns right, and proceeds through connecting bridge two to enter array three. It then turns left to face upwards and begin cleaning array three. In the starting point parking mode, after cleaning, it stops on the left side of array three, turns left, and proceeds through connecting bridge two to enter array two. Reaching the vicinity of the left edge of array two, it turns left again, proceeds through connecting bridge one, and enters the charging station. After charging is complete, it enters standby mode.

[0067] Create a new station unit named "Charging Station One" through a mobile application or other interactive interface, and set its parameters according to the actual scenario. The minimum allowable battery level for exiting the station is set to 60%, the maximum allowable body temperature for exiting the station is set to 60℃, the allowable slope range for exiting the station is set to 0–90°, the delay time is set to 1 second, the maximum interval between entering and exiting the station is set to 1 hour, and the exit direction is backward. If the above exit conditions are met within the maximum interval between entering and exiting the station, the station will rotate 180° backward after a 1-second delay to complete the exit unit task.

[0068] Create a new bridge unit named "Bridge One". The parameters for the actions performed on the bridge consist of the turning direction and the straight-line length. The first action is fixed as a turn, and continuous turns are not allowed. The straight-line length of the bridge stage is limited to between 0.15m and 2.5m to eliminate accumulated mileage errors. Continuous straight-line actions require a gap-crossing state, such as a groove, the frame of a photovoltaic panel, or a white seam in the paint, to allow the equipment to enter the gap-crossing state. When the white seam crosses, the equipment will advance to the next target distance. After passing through a white seam with a width of 0.02m to 0.1m, the mileage will be recalculated. Therefore, the type is selected as a connecting bridge, and the bridge composition is set to forward > 0.42 > 0.80 > 0.317. After completing the task of the exit unit, the equipment travels forward 0.42m according to the guide line laid in the station, crosses the groove in the charging station, and then travels forward through the charging station, passing the connecting bridge one with a front edge of 0.35m plus the guide line length of 0.45m, to reach the bottom edge of array two. That is, this stage requires a total travel of 0.80m. Then we need to travel another 0.317m to reach the starting point of array two, where we can prepare for cleaning array two.

[0069] Create a new array unit named "Array Two". Set the component type to full-size / 5BB / 156mm / 60PCS, the component placement direction to vertical, the cleaning direction to the right, the number of component rows to 2, the number of component columns to 5, the parking mode to corner parking, and the cleaning area to the entire array. After completing the "Bridge One" bridge unit and reaching the starting point of the "Array Two" component array, use the set component type and placement direction as the route type standard. Based on the full array cleaning area, the number of component rows and columns, use odometer and gap judgment calculations for positioning to complete the cleaning of all array areas of "Array Two". Finally, according to the set corner parking mode, stop at the right side of the array with the fuselage facing upwards, completing the "Array Two" array unit task, and you can prepare to enter Array Three via connecting Bridge Two.

[0070] Create a new bridge unit named "Bridge Two", select "Connecting Bridge" as the type, and set the bridge composition to Right Turn > 0.317 > 0.45 > 0.317 > Left Turn. After completing the task of "Array Two" array unit, stop on the right side of the array with the fuselage facing upwards. According to the settings, first turn right and move forward 0.317m to cross out of Array Two, then cross the connecting bridge with a guide line length of 0.45m to reach the left edge of Array Three, then move another 0.317m to enter the starting point of Array Three, turn left to face upwards, and you can prepare for cleaning Array Three.

[0071] Create a new array unit named "Array Three". Set the component type to full-size / 5BB / 156mm / 60PCS, component placement orientation to vertical, cleaning direction to the right, number of component rows to 2, number of component columns to 5, parking mode to start-point parking, and cleaning area to the entire array. After completing the "Bridge Two" bridge unit and reaching the starting point of the "Array Three" component array, use the set component type and placement orientation as the route type standard. Based on the full array cleaning area, number of component rows and columns, use odometer and gap judgment calculations for positioning to complete the cleaning of all array areas of "Array Three". Finally, according to the set start-point parking mode, stop at the left side of the array with the fuselage facing upwards, completing the "Array Three" array unit task and preparing to return to the charging station.

[0072] Create a new bridge unit named "Bridge Three", select the type as full piece / 5BB / 156mm / 60PCS component, place the array in a horizontal orientation, and set the bridge composition as follows: Turn left > 0.317 > 0.45 > 0.951 > 0.951 > 0.951 > 0.951 > 0.634 > Turn left > 0.317 > 0.80 > 0.42. After completing the task of array unit "Array Three", stop on the left side of the array with the fuselage facing upward. According to the settings, first turn left and move forward 0.317m to cross out of array three. After crossing out of the original array, configure the route type according to the set component type and component placement direction as the standard, then reach the right edge of array two by passing the connecting bridge with a guide line length of 0.45m. Then travel 0.951m to cross 4 columns of components. Finally, travel 0.634m to enter the left side of the last component, then turn left towards the charging station, move forward 0.317m to cross out of array two, then reach the front edge of the charging station by passing the connecting bridge with a guide line length of 0.45m. Then travel 0.35m to reach the groove in the charging station. After crossing the groove, reposition and count again, then travel 0.42m to accurately enter the designated charging position in the charging station.

[0073] Create a new one named "land" Figure 2 The map was updated, and the following map units were added sequentially: "Charging Station 1", "Bridge 1", "Array 2", "Bridge 2", "Array 3", and "Bridge 3". The map was then saved. The photovoltaic cleaning robot was set to a fixed map path mode, and the "ground" option was selected. Figure 2 The photovoltaic cleaning robot started autonomous operation based on the preset map and completed the preset map task according to the above settings.

[0074] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method of robotically pre-setting a photovoltaic scene map, characterized by: The method comprises: The photovoltaic scene is divided into three types of units: site units, bridge units, and array units; According to the actual scene, a map composed of sites, bridges, or arrays is set up in sequence through a terminal software interactive interface, and a start command is sent to control the photovoltaic cleaning robot to perform a cleaning task according to a preset map path.

2. The method of claim 1, wherein: The photovoltaic scene is divided by three elements: points, lines, and surfaces.

3. The method of claim 2, wherein: The site unit includes charging stations and transfer stations, and is used for charging, heat dissipation, storage, and transfer.

4. The method of claim 1, wherein: The bridge unit includes a connecting bridge with a single guide line or a continuous linear plane composed of photovoltaic module splicing, and is used for connecting movement to different target units.

5. The method of claim 4, wherein: The connecting bridge uses a white adhesive tape with a width of 4-6 mm as a guide line and is centrally pasted on a black bridge surface, which simplifies the surface texture of the bridge surface and simulates the highlight interval stripes between photovoltaic module cells.

6. The method of claim 1, wherein: The array unit is a rectangular array of photovoltaic modules with uniform type specifications, placement directions, and small misplacement.

7. The method of claim 1, wherein: The terminal is a mobile phone, a tablet computer, an industrial control terminal, a smart display, a cloud platform, or a wearable device.

8. Apparatus for robotically presetting a photovoltaic field map, characterized by: Comprise: A target identification and positioning module for identifying and positioning site, bridge, and array elements in the photovoltaic scene; A graphics library module for processing a library or framework of graphics and user interface elements; A scene construction module for creating and constructing a preset scene map, including adding, deleting, and editing site, bridge, and array elements in the scene; A region division module for dividing the photovoltaic region according to specific standards and rules; A position positioning module for obtaining and managing the position coordinates of each site in the scene; A path planning and navigation module for path planning and navigation in the photovoltaic scene according to obstacle information and site position information in the scene; A data analysis and visualization module for analyzing and visualizing the data of the photovoltaic system; A drawing and rendering module for drawing the scene map to the screen or other output devices; An interaction and operation module for processing user interaction and operation with the scene map; A map construction module for converting the collected data into a map of the scene and establishing, updating, and maintaining the map.

9. Apparatus for robotically pre-setting a photovoltaic field map, characterized by: Comprise a sensor, a processor, a cleaning system, a positioning system, and a memory storing a photovoltaic scene map, wherein the cleaning system is operated by the processor along the photovoltaic scene map, and performs the method according to any one of claims 1-8.

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