A visual angle switching method, system, device and medium for a photovoltaic robot

Abstract

This application discloses a method, system, device, and medium for switching the perspective of a photovoltaic robot. The method identifies the current task stage of the photovoltaic robot based on its real-time operating status; matches the corresponding target monitoring perspective in the photovoltaic robot's association database according to the current task stage; the association database stores the relationship between preset task stages and preset monitoring perspectives; when the real-time operating status changes, the method obtains the real-time perspective parameters of the photovoltaic robot; based on the real-time perspective parameters and the target monitoring perspective, it generates smooth transition animation data; and based on the smooth transition animation data, it controls the photovoltaic robot to switch perspectives. This method achieves dynamic adaptive matching and smooth switching between monitoring perspectives and operational tasks by identifying the optimal perspective for each task stage and generating smooth transition animation data based on real-time perspective parameters, thereby improving the level of monitoring intelligence and operational efficiency.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a method, system, device and medium for switching the viewpoint of a photovoltaic robot. Background Technology

[0002] With the rapid development of the photovoltaic power generation industry, the construction scale of photovoltaic power plants is expanding daily, and photovoltaic cleaning robots have gradually replaced manual labor as the main equipment for cleaning and maintaining photovoltaic panels. To ensure the safe operation and cleaning quality of the robots, maintenance personnel typically observe the robot's operating status in real time through a visual monitoring system. Existing monitoring systems are usually equipped with multiple cameras or multi-view functions, including bird's-eye view, left oblique view, and right oblique view, so that maintenance personnel can observe the robot's operating status, cleaning effect, and surrounding environment, thereby ensuring the smooth progress of cleaning operations and the timely detection of abnormalities.

[0003] However, while existing monitoring systems support multi-view feeds, view switching largely relies on manual selection via the interface, making it difficult to dynamically synchronize with the robot's actual cleaning, movement, and turning stages. For example, when the robot is cleaning, the monitoring screen may still maintain a bird's-eye view, making it difficult to clearly observe the contact between the brush and the photovoltaic panel surface; when the robot is turning or avoiding obstacles, a single viewpoint may not be sufficient to detect path deviations or potential risks in a timely manner. This not only increases the workload of operators but also easily creates blind spots in critical operational phases, affecting the accurate judgment of the robot's operational effectiveness and safety status, and reducing the intelligence level and operational efficiency of the monitoring system. Summary of the Invention

[0004] The main objective of this disclosure is to propose a method, system, device, and storage medium for switching the viewpoint of a photovoltaic robot, which can solve the technical problem that the existing technology relies on manual switching, resulting in blind spots in key operation links and low monitoring efficiency.

[0005] A first aspect of this application provides a method for switching the viewpoint of a photovoltaic robot, the method comprising: Obtain the real-time operating status of the photovoltaic robot; The current task stage of the photovoltaic robot is identified based on the real-time operating status; Based on the current task stage of the photovoltaic robot, a corresponding target monitoring perspective is matched in the association database of the photovoltaic robot; the association database stores the association relationship between preset task stages and preset monitoring perspectives; When the real-time operating state changes, the real-time view parameters of the photovoltaic robot are obtained; Based on the real-time view parameters and the target monitoring view, generate smooth transition animation data; Based on the smooth transition animation data, the photovoltaic robot is controlled to switch perspectives.

[0006] The first aspect of this application provides a method for switching the perspective of a photovoltaic robot. This method identifies the current task stage of the photovoltaic robot based on its real-time operating status. Based on the current task stage, a corresponding target monitoring perspective is matched in the photovoltaic robot's association database. The association database stores the association between preset task stages and preset monitoring perspectives. When the real-time operating status changes, real-time perspective parameters of the photovoltaic robot are obtained. Based on the real-time perspective parameters and the target monitoring perspective, smooth transition animation data is generated. Based on the smooth transition animation data, the photovoltaic robot is controlled to switch perspectives. This method can identify the task stage, match the optimal perspective, and generate smooth transition animation data based on the real-time perspective parameters, achieving dynamic adaptive matching and smooth switching between the monitoring perspective and the task, thereby improving the level of monitoring intelligence and operational efficiency.

[0007] To achieve the above objectives, a second aspect of this application provides a perspective switching system for a photovoltaic robot, the system comprising: The first module is used to obtain the real-time operating status of the photovoltaic robot; The identification module is used to identify the current task stage of the photovoltaic robot based on the real-time operating status. The matching module is used to match the corresponding target monitoring view in the association database of the photovoltaic robot according to the current task stage of the photovoltaic robot; the association database stores the association relationship between preset task stages and preset monitoring views; The second module is used to obtain the real-time view parameters of the photovoltaic robot when the real-time operating state changes. The generation module is used to generate smooth transition animation data based on the real-time view parameters and the target monitoring view. The control module is used to control the photovoltaic robot to switch perspectives based on the smooth transition animation data.

[0008] To achieve the above objectives, a third aspect of this application provides an electronic device, including: at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, the instructions being executed by the at least one control processor to enable the at least one control processor to perform the above-described method for switching the perspective of a photovoltaic robot.

[0009] To achieve the above objectives, a fourth aspect of this application provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the above-described method for switching the perspective of a photovoltaic robot.

[0010] It is understood that the beneficial effects of the second to fourth aspects compared with the related technologies are the same as the beneficial effects of the first aspect compared with the related technologies. Please refer to the relevant description in the first aspect above, which will not be repeated here. Attached Figure Description

[0011] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart illustrating a method for switching the viewpoint of a photovoltaic robot according to an embodiment of this application; Figure 2 This is a schematic diagram of the viewpoint switching system of a photovoltaic robot provided in an embodiment of this application; Figure 3 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0012] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0013] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0014] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0015] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0016] With the rapid development of the photovoltaic power generation industry, the construction scale of photovoltaic power plants is expanding daily, and photovoltaic cleaning robots have gradually replaced manual labor as the main equipment for cleaning and maintaining photovoltaic panels. To ensure the safe operation and cleaning quality of the robots, maintenance personnel typically observe the robot's operating status in real time through a visual monitoring system. Existing monitoring systems are usually equipped with multiple cameras or multi-view functions, including bird's-eye view, left oblique view, and right oblique view, so that maintenance personnel can observe the robot's operating status, cleaning effect, and surrounding environment, thereby ensuring the smooth progress of cleaning operations and the timely detection of abnormalities.

[0017] However, while existing monitoring systems support multi-view feeds, view switching largely relies on manual selection via the interface, making it difficult to dynamically synchronize with the robot's actual cleaning, movement, and turning stages. For example, when the robot is cleaning, the monitoring screen may still maintain a bird's-eye view, making it difficult to clearly observe the contact between the brush and the photovoltaic panel surface; when the robot is turning or avoiding obstacles, a single viewpoint may not be sufficient to detect path deviations or potential risks in a timely manner. This not only increases the workload of operators but also easily creates blind spots in critical operational phases, affecting the accurate judgment of the robot's operational effectiveness and safety status, and reducing the intelligence level and operational efficiency of the monitoring system.

[0018] Based on this, the embodiments of this application provide a method, system, electronic device and medium for switching the viewpoint of a photovoltaic robot. The aim is to identify the optimal viewpoint by the task stage and generate smooth transition animation data based on real-time viewpoint parameters, thereby realizing dynamic adaptive matching and smooth switching between the monitoring viewpoint and the task, and thus improving the level of monitoring intelligence and operation and maintenance efficiency.

[0019] The photovoltaic robot perspective switching method, system, electronic device and medium provided in the embodiments of this application are specifically described through the following embodiments. First, the perspective switching method of the photovoltaic robot in the embodiments of this application is described.

[0020] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence (AI) refers to the theories, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0021] Foundational technologies for artificial intelligence generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies mainly encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0022] The perspective switching method for photovoltaic robots provided in this application relates to the field of robot control technology. This method can be applied to a terminal, a server, or software running on either the terminal or the server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application implementing the perspective switching method for photovoltaic robots, but is not limited to the above forms.

[0023] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0024] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0025] Therefore, referring to Figure 1 This application provides a method for switching the viewpoint of a photovoltaic robot. This method is applied to a central controller, which can be a server, an electronic device, or a mobile terminal, etc. There are no specific limitations here. The method includes the following steps S110 to S140.

[0026] Step S110: Obtain the real-time operating status of the photovoltaic robot; Step S120: Identify the current task stage of the photovoltaic robot based on its real-time operating status; Step S130: Based on the current task stage of the photovoltaic robot, match the corresponding target monitoring view in the association database of the photovoltaic robot; the association database stores the association relationship between preset task stages and preset monitoring views; Step S140: When the real-time operating status changes, obtain the real-time view parameters of the photovoltaic robot; Step S150: Generate smooth transition animation data based on real-time view parameters and target monitoring view. Step S160: Control the photovoltaic robot to switch perspectives based on the smooth transition animation data.

[0027] First, let's analyze some of the terms used in this application: Photovoltaic robots are cleaning devices used in photovoltaic power plants to replace manual labor in cleaning and maintaining photovoltaic panels.

[0028] Real-time operating status refers to the instantaneous data information collected by the robot control system and various sensors that reflects the robot's current operating status.

[0029] Task phases refer to different state labels based on the robot's operation process, including the movement phase, turning phase, obstacle avoidance phase, and cleaning phase. The cleaning phase includes a left cleaning phase and a right cleaning phase. The left cleaning phase indicates the photovoltaic panel is on the robot's left; the right cleaning phase indicates the photovoltaic panel is on the robot's right.

[0030] The association database is a pre-built storage module used to save matching rules between different task stages and the best observation angle.

[0031] The target monitoring perspective refers to the spatial perspective most suitable for maintenance personnel to observe the robot's operational status, determined based on the current task stage. This primarily includes a bird's-eye view, a left-side oblique view, and a right-side oblique view. The system retrieves corresponding matching rules from the associated database based on the identified task stage labels: for example, when the robot is identified as being in a moving or running stage, a bird's-eye view is matched to observe the overall path; when it is identified as being in a cleaning stage, a left-side oblique view or a right-side oblique view is matched to highlight the contact details between the cleaning module and the photovoltaic panel surface; and when it is in an obstacle avoidance stage, a side-side oblique view or a combination of views is matched to promptly identify potential risks.

[0032] Real-time view parameters refer to the spatial state data and real-time monitoring view of the virtual camera of the monitoring system associated with the photovoltaic robot at the moment the view switching action is triggered. Specifically, it includes the camera position coordinates, scene rotation angle, controller target point coordinates, and real-time monitoring view.

[0033] Smooth transition animation data refers to a series of intermediate frame data used to drive the viewpoint to gradually and coherently change from the current state to the target state.

[0034] In this step, the control system and various sensors of the photovoltaic cleaning robot are used to collect real-time status data generated during the robot's current operation, including but not limited to the robot's current operation stage, robotic arm joint angles, direction of travel, and motion mode. This provides a basis for subsequent task stage identification and perspective matching, ensuring that perspective switching is closely related to the robot's actual operation process.

[0035] Preferably, a communication connection is established with the photovoltaic robot control system, for example, by receiving status data packets in real time via the WebSocket protocol, and parsing these data packets to extract the robot's position information, speed information, robotic arm motion information, and sensor values, which are then used as input data for subsequent processing.

[0036] Furthermore, after acquiring real-time operational status data, the data is analyzed and mapped to categorize the robot's operational status into specific task stage labels. Specifically, sensor values ​​are parsed to determine whether the robot is performing turning or cleaning operations, thus transforming the robot's low-level operational parameters into high-level semantic information. This establishes a clear stage classification basis for subsequent perspective matching, thereby achieving a precise correspondence between monitoring perspective and task content.

[0037] For example, by monitoring the sign of the joint curvature value of the first joint of the robotic arm, when the curvature value is greater than zero, it can be identified as the right delivery or right cleaning stage, and when it is less than or equal to zero, it can be identified as the left delivery or left cleaning stage, thereby accurately mapping the complex operating state to the corresponding task stage label.

[0038] Furthermore, matching rules between task stages and monitoring perspectives are pre-stored in the associated database, enabling the rapid determination of the most suitable target monitoring perspective for the current operational state after identifying the task stage. For example, when the robot is in the cleaning stage, an oblique perspective is matched to highlight the contact details between the cleaning module and the photovoltaic panel; when the robot is in the moving stage, a bird's-eye view is matched to facilitate observation of the overall movement path and surrounding environment; when the robot is in the obstacle avoidance or anomaly handling stage, a lateral oblique perspective or a combination of perspectives is matched to identify potential risk areas.

[0039] In some embodiments, step S130 involves matching the corresponding target monitoring viewpoint in the photovoltaic robot's association database based on the current task stage of the photovoltaic robot, including the following steps S210 to S230: Step S210: When the photovoltaic robot is currently in the moving or turning stage of the task, match the bird's-eye view as the target monitoring view. Step S220: When the photovoltaic robot is currently in the cleaning stage, match the left oblique view or the right oblique view as the target monitoring view. Step S230: When the photovoltaic robot is currently in the obstacle avoidance stage of the task, match the left oblique view, the right oblique view, or a combination of views as the target monitoring view; the combination view includes at least one of the bird's-eye view, the left oblique view, and the right oblique view.

[0040] In this embodiment, when the robot is in the moving phase, its main task is to travel along the planned path. Therefore, it needs to observe the overall travel route, the surrounding environment, and the distribution of obstacles to ensure that the path is correct and there is no risk of collision. When the robot is in the turning phase, the vehicle's posture changes significantly. The operator needs to judge from a macroscopic perspective whether the turning angle is accurate and whether there is any path deviation. The bird's-eye view presents the relative positional relationship between the robot and the photovoltaic panel array from a top-down perspective. It can clearly show the robot's overall travel path, the surrounding environment, and the distribution of obstacles, providing the operator with global situational awareness, thereby effectively ensuring the robot's operational safety during movement and turning.

[0041] When the robot is in the cleaning stage, the operator needs to pay close attention to the contact between the cleaning module (such as the brush) and the surface of the photovoltaic panel, the cleaning effect, and whether there are any missed areas. The oblique view can provide the best angle for detailed observation, allowing the operator to clearly see the adhesion between the cleaning module and the surface of the photovoltaic panel.

[0042] Specifically, the left and right oblique angles correspond to the left and right cleaning stages, respectively. By monitoring the arc value of the robotic arm joints, the current working direction is automatically determined, thereby matching the corresponding oblique angle to ensure that the operator can obtain the most favorable observation angle for judging the cleaning quality during key cleaning stages.

[0043] Furthermore, when a robot encounters an obstacle, it needs to quickly determine the obstacle's location, type, and safe distance from the robot to assist operators or automatic control systems in making correct obstacle avoidance decisions. Therefore, multiple or combined perspectives can be selected to effectively reduce blind spots during obstacle avoidance and improve the ability to detect and handle abnormal situations.

[0044] For example, a left- or right-angled view can be used to observe the relative position of the robot and obstacles and the risk of contact from the side; a combined view allows multiple angles to be displayed at the same time, or to be dynamically switched between different angles, enabling operators to comprehensively analyze the situation on site from multiple dimensions.

[0045] In some embodiments, in step S220, when the photovoltaic robot is currently in the cleaning stage, a left oblique view or a right oblique view is matched as the target monitoring view, including the following steps S310 to S330: Step S310: Analyze the real-time operating status and extract the arc value of the robotic arm joint of the photovoltaic robot; Step S320: When the joint curvature value of the robotic arm is greater than the preset threshold, determine that the current task stage of the photovoltaic robot is the right cleaning stage, and match the right oblique view as the target monitoring view. Step S330: If the joint curvature value of the robotic arm is less than or equal to a preset threshold, determine that the current task stage of the photovoltaic robot is the left cleaning stage, and match the left oblique view as the target monitoring view.

[0046] In this embodiment, when the photovoltaic cleaning robot performs cleaning operations, the posture of its robotic arm directly reflects the direction of the photovoltaic panel being cleaned. Therefore, by analyzing the robot's real-time operating status data, the joint curvature value of the first joint of the robotic arm is extracted. This joint curvature value is a key parameter for determining the cleaning direction and can accurately reflect the deflection direction of the robotic arm relative to the robot body.

[0047] Specifically, when the extracted arc value of the first joint of the robotic arm is greater than a preset threshold, it is determined that the robotic arm is unfolding to the right. At this time, the robot is performing a cleaning operation on the right photovoltaic panel or a sweeping task in the right area. Then, according to the preset matching rules, the right oblique view is determined as the target monitoring view. The right oblique view focuses on showing the contact details between the robot's right cleaning module and the surface of the photovoltaic panel from a 45° angle from the side and rear. This allows the operator to clearly observe the operating status of the right brush, the cleaning effect, and whether there are any abnormalities, ensuring the consistency between the view switching and the robot's actual working direction.

[0048] When the extracted arc value of the first joint of the robotic arm is less than or equal to the preset threshold, it is determined that the robotic arm is extended to the left or in the middle position. At this time, the robot is cleaning the left photovoltaic panel. Then, according to the preset matching rules, the left oblique view is determined as the target monitoring view. The left oblique view focuses on showing the contact details between the robot's left cleaning module and the surface of the photovoltaic panel from a 45° angle from the side and rear, which makes it easier for the operator to monitor the cleaning quality and operation status of the left side.

[0049] Therefore, through the judgment logic based on joint curvature values, the left and right cleaning stages can be automatically distinguished, and the corresponding oblique angle can be accurately matched without manual intervention, realizing intelligent adaptation between the monitoring angle and the robot's working direction.

[0050] Furthermore, the robot's operational status changes are continuously monitored via a real-time communication link (such as WebSocket), and a state deduplication mechanism is employed to trigger subsequent switching processes only when a change actually occurs during the task phase. When the triggering condition is met, real-time view parameters of the current monitoring screen are obtained, including camera position coordinates, scene rotation angle, controller target point, and the current monitoring viewpoint, etc., as starting data for generating a smooth transition animation, ensuring that the viewpoint switching process can naturally transition from the current viewpoint to the target viewpoint.

[0051] Furthermore, based on the preset standard viewpoint parameters (including camera position coordinates, scene rotation angle, etc.) corresponding to the target monitoring viewpoint, and combined with the real-time viewpoint parameters, multi-dimensional interpolation calculations are performed within the preset animation duration (e.g., 1000 milliseconds) using an easing function (e.g., a cubic easing function).

[0052] Specifically, the interpolation calculation simultaneously covers the three coordinate axes of the camera position, the two rotation axes of the scene rotation angle, and the position of the controller target point, ensuring the coordination of the image during the viewpoint switching process. This results in the generated animation data having a natural speed change curve of "fast-slow-gradual" for viewpoint switching, effectively avoiding the discomfort caused by sudden visual changes.

[0053] In some embodiments, in step S150, smooth transition animation data is generated based on real-time view parameters and target monitoring view, including the following steps S410 to S430: Step S410: Process the current time progress of the photovoltaic robot to obtain the easing progress; Step S420: Based on the easing progress, within the preset animation duration, perform multi-dimensional interpolation calculations on the camera position coordinates, scene rotation angle, and controller target point to obtain the transition position coordinates, transition rotation angle, and transition target point. Step S430: Generate smooth transition animation data from the real-time monitoring view to the target monitoring view based on the transition position coordinates, transition rotation angle, and transition target point.

[0054] In this embodiment, the current time progress of the photovoltaic robot is processed to obtain the easing progress, including: calculating the current time progress using a cubic easing function to obtain the easing progress.

[0055] Specifically, the current time progress of the animation is first obtained, which represents the ratio of the time elapsed from the start of the animation to the current time to the preset total animation duration. Then, the current time progress is calculated using a three-stage easing function to obtain the easing progress.

[0056] Among them, the cubic easing function has the characteristics of "fast-slow-gradient": in the early stage of the animation, the easing progress increases rapidly, allowing the viewpoint to quickly approach the target position; in the middle of the animation, the growth rate gradually slows down; and in the late stage of the animation, the easing progress slowly converges to 1. This processing method makes the viewpoint switching process conform to the natural perception of motion by the human eye, avoiding the mechanical or abrupt feeling that uniform motion may bring, and laying a foundation for subsequent multi-dimensional interpolation calculations that conform to visual aesthetics.

[0057] Furthermore, using the easing progress as the interpolation weight, linear interpolation calculations are performed simultaneously on parameters in three dimensions within a preset animation duration. Specifically, the first dimension is the camera position coordinates, where interpolation is performed on the X, Y, and Z axes for the starting and target camera positions to calculate the transition position coordinates of the current frame; the second dimension is the scene rotation angle, where interpolation is performed on the X and Z axes for the starting and target rotation angles to calculate the transition rotation angle of the current frame; and the third dimension is the controller target point, where vector interpolation is performed on the starting and final target points to calculate the transition target point of the current frame. Thus, synchronous interpolation across these three dimensions ensures a coordinated transition between the observation position, observation angle, and observation focus during viewpoint switching.

[0058] Furthermore, the transition position coordinates, transition rotation angle, and transition target point are integrated to form the complete viewpoint state data for the current frame. Specifically, within the animation duration, the following steps are repeatedly executed with frame-level precision: "Process the current time progress of the photovoltaic robot to obtain the easing progress; based on the easing progress, within the preset animation duration, perform multi-dimensional interpolation calculations on the camera position coordinates, scene rotation angle, and controller target point to obtain the transition position coordinates, transition rotation angle, and transition target point; generate smooth transition animation data from the real-time monitoring viewpoint to the target monitoring viewpoint based on the transition position coordinates, transition rotation angle, and transition target point." The transition viewpoint state of each frame is continuously calculated and output, ultimately generating a series of continuous frame data, constituting complete smooth transition animation data.

[0059] Therefore, by recording the complete transition trajectory from the initial real-time monitoring perspective to the target monitoring perspective through smooth transition animation data, it is ensured that the perspective state of each frame has been optimized by easing function and multi-dimensional interpolation processing, thereby providing operators with a smooth, natural and dizzying monitoring experience during perspective switching, effectively avoiding the problems of sudden changes, jitter or discontinuous observation that are common in traditional perspective switching.

[0060] Furthermore, the generated smooth transition animation data is sent to the monitoring and rendering module associated with the photovoltaic robot (such as a real-time 3D rendering engine based on Three.js). The rendering module renders the transition view frame by frame and pushes the rendered transition view to the monitoring terminal for display in real time. During the switching process, the robot's status information is simultaneously updated to the control panel to maintain the consistency of the interface display. This allows operators to obtain the optimal monitoring perspective that matches the robot's current task stage without manual intervention, and the perspective switching process is smooth and natural, ensuring the continuity of monitoring and the viewing experience.

[0061] In some embodiments, in step S160, the photovoltaic robot is controlled to switch perspectives based on the smooth transition animation data, including the following steps S510 to S520: Step S510: Send the smooth transition animation data to the monitoring and rendering module associated with the photovoltaic robot; Step S520: Render the transition view frame by frame through the monitoring and rendering module, and adjust the camera projection matrix according to the display window size of the photovoltaic robot's monitoring terminal, so as to push the rendered transition view to the photovoltaic robot's monitoring terminal for display in real time.

[0062] In this embodiment, after the smooth transition animation data is generated, it is sent to the monitoring and rendering module associated with the photovoltaic robot. This monitoring and rendering module is built on the Three.js engine and can realize hardware-accelerated real-time 3D rendering, thereby realizing the separation of calculation logic and rendering logic, ensuring that the animation data generation process does not block the rendering thread, and laying the data foundation for subsequent smooth screen output.

[0063] Furthermore, after receiving the smooth transition animation data, the monitoring and rendering module begins rendering the transition view frame by frame. During the rendering of each frame, the rendering module sets the camera position based on the transition position coordinates corresponding to the current frame, sets the scene orientation based on the transition rotation angle, and sets the controller's observation focus based on the transition target point, thereby constructing the complete view state of the current frame. At the same time, the rendering module monitors the display window size of the monitoring terminal in real time and dynamically adjusts the parameters of the camera projection matrix to ensure that the rendered image ratio precisely matches the display window, avoiding image distortion or cropping.

[0064] Furthermore, for high-DPI displays, the rendering module can adjust the pixel ratio to ensure image clarity. Each rendered frame is pushed to the monitoring terminal for display via a real-time communication mechanism. The entire rendering process maintains a frame rate of 60 FPS, ensuring smooth and lag-free visuals during viewpoint switching, providing operators with a continuous, stable, and high-quality monitoring experience.

[0065] In some embodiments, after controlling the photovoltaic robot to switch perspectives based on the smooth transition animation data in step S160, the following steps S610 to S620 are further included: Step S610: Monitor the communication link status and data integrity of the photovoltaic robot in real time; Step S620: If the communication link status or data integrity is abnormal, stop the task process of the photovoltaic robot and maintain the real-time monitoring view of the monitoring terminal of the photovoltaic robot.

[0066] In this embodiment, the communication link status of the photovoltaic robot is continuously monitored in real time during and after the viewpoint switching process. This includes detecting the connection stability of real-time communication links such as WebSocket, data transmission latency, and the risk of disconnection. Simultaneously, the integrity of received robot operation status data and joint status data is verified to ensure that data packets are not lost, damaged, or out of order. Therefore, by sensing the communication link and data quality in real time, potential network faults, sensor anomalies, or data acquisition problems can be detected promptly, providing a reliable basis for subsequent anomaly handling.

[0067] Furthermore, when an abnormality in the communication link status (such as connection interruption or timeout) or an abnormality in data integrity (such as missing critical data or verification failure) is detected, a safety protection mechanism is immediately activated. Specifically, a task abort command is first sent to the photovoltaic robot's control system to suspend the robot's current cleaning, moving, or turning tasks, placing the robot in a safe stop state to prevent safety risks such as collisions, deviations from the path, or equipment damage that may occur if the robot continues to operate in the event of monitoring failure.

[0068] Furthermore, by maintaining the real-time monitoring perspective of the monitoring terminal unchanged, that is, maintaining the last effective perspective state before the anomaly occurred, the perspective jump or image loss caused by data anomalies is avoided, ensuring that the operator can still observe the robot's on-site situation through a stable monitoring screen. Thus, by controlling both the execution end and the monitoring end simultaneously when an anomaly occurs, the safety of the photovoltaic cleaning robot's operation process and the reliability of monitoring are guaranteed to the greatest extent.

[0069] In one embodiment, the above-described view switching method for photovoltaic robots is applied to construct a multi-view automatic switching model based on task stages for use in photovoltaic cleaning robot operation scenarios. The application steps of this embodiment model are as follows: Step 1: Task Stage Identification: The current task status information is obtained through the control model and sensor values ​​of the photovoltaic cleaning robot to map the robot's real-time operating status to corresponding task stage labels. These task stages include, but are not limited to: left cleaning stage (photovoltaic panel on the left side of the robot), right placement stage (photovoltaic panel on the right side of the robot), running stage, moving stage, turning stage, and obstacle avoidance stage.

[0070] Step 2: Establish the correspondence between task stages and monitoring perspectives: Pre-set matching rules between different task stages and different monitoring perspectives in the model, including: when the robot is in the cleaning stage, switch to a left oblique perspective or a right oblique perspective to highlight the contact between the cleaning module and the photovoltaic panel surface; when the robot is in the moving stage, switch to a bird's-eye view to observe the overall movement path and surrounding environment; when the robot is in the obstacle avoidance or anomaly handling stage, switch to a side oblique perspective or a combination of perspectives to identify potential risk areas.

[0071] Step 3, Viewpoint Switching Control: When a change in the task stage is detected, the model automatically controls the virtual viewpoint module to switch to the corresponding target viewpoint according to the preset matching rules, including at least one of the left oblique view, right oblique view, or bird's-eye view.

[0072] In this step, when a change in the task phase is detected, the model automatically controls the virtual viewpoint module to switch to the corresponding target viewpoint according to preset matching rules. Preferably, this step uses intelligent left and right viewpoint judgment based on joint states to achieve smooth and intelligent viewpoint switching.

[0073] Specifically, the model intelligently determines the current working direction by monitoring the joint state of the robot arm and automatically selects the corresponding oblique viewing angle. This determination is based on the sign of the joint curvature value (arm_joint1.jointValue) of the first joint (arm_joint1). Therefore, it eliminates the need for additional sensors and directly utilizes the robot's existing joint state data to achieve intelligent adaptive switching between left and right viewing angles. Specifically, when arm_joint1.jointValue > 0, it is determined to be a right delivery / right cleaning phase, and the view is switched to the right oblique angle; when arm_joint1.jointValue ≤ 0, it is determined to be a left delivery / left cleaning phase, and the view is switched to the left oblique angle.

[0074] Furthermore, the model is pre-configured with three sets of standard viewpoint parameters, covering the optimal observation angles for different task stages. These include bird's-eye view parameters, left-side oblique view parameters, and right-side oblique view parameters. Among them, the bird's-eye view parameters are suitable for the movement and operation stages, with camera position coordinates of X=-0.36, Y=-2.84, Z=24.63; scene rotation angles of X-axis rotation = 0.12 radians and Z-axis rotation = 1.59 radians; and a visual effect of approximately 85° overhead angle, allowing for clear observation of the robot's overall movement path, surrounding environment, and obstacle distribution.

[0075] The left oblique viewing angle parameters are applicable to the left cleaning / left delivery stage. The camera position coordinates are X=0.0, Y=-18.00, Z=0.64; the scene rotation angle is X-axis rotation=-0.06 radians, Z-axis rotation=4.55 radians; the visual effect is a 45° oblique view from the side and rear, which focuses on showing the contact details between the left cleaning module and the photovoltaic panel surface.

[0076] The right oblique view parameters are applicable to the right cleaning / right deployment stage. The camera position coordinates are X=0.0, Y=-18.00, Z=0.64; the scene rotation angle is X-axis rotation=-0.09 radians, Z-axis rotation=1.41 radians; the visual effect is a 45° oblique view from the side and rear, which focuses on showing the contact details between the right cleaning module and the photovoltaic panel surface.

[0077] Furthermore, to avoid visual discomfort caused by sudden changes in perspective, the model employs a smooth transition animation technique based on an easing function. This animation is configured with a duration of 1000 milliseconds (1 second) and frame rate control using `requestAnimationFrame` to achieve frame-level animation control, ensuring a smooth 60 FPS. Simultaneously, the easing function design uses a cubic easing function (CubicEase-Out) to achieve natural speed changes. The animation begins with rapid movement, quickly approaching the target's viewpoint; in the middle stage, the speed gradually decreases; and at the end, the animation slowly converges to the target's viewpoint to avoid overshoot.

[0078] Furthermore, multi-dimensional interpolation calculations are performed, with the model simultaneously performing linear interpolation calculations in three dimensions to ensure the smoothness of viewpoint switching. Specifically, this includes camera position interpolation, scene rotation interpolation, and controller target point interpolation. Among these, in camera position interpolation... It employs a vector interpolation algorithm to simultaneously calculate the smooth transition of the X, Y, and Z coordinate axes; in scene rotation interpolation, It interpolates the rotation angles along the X and Z axes of the scene respectively to maintain the smoothness of the rotation transition; in the controller target point interpolation, It ensures a smooth and synchronized transition of the target point of the OrbitControls controller, avoiding viewpoint drift.

[0079] Furthermore, the model employs an event-driven perspective switching trigger mechanism, specifically including: Status monitoring: Receive robot status change events in real time via WebSocket; State deduplication: When a state value is detected to have not changed, the viewpoint is not switched to avoid invalid operations; Status synchronization: When switching perspectives, status information is synchronized to the control panel to ensure consistent interface display.

[0080] Therefore, a smooth 1-second transition avoids dizziness caused by perspective changes, eliminates visual abruptness, and multi-dimensional interpolation ensures that operators can always clearly observe the robot's status during perspective transitions. Furthermore, intelligent judgment based on joint status allows for adaptation to different work directions without manual intervention. A lightweight interpolation algorithm is also employed to reduce computational resource consumption while maintaining smoothness. In addition, preset parameterized configurations allow for flexible adjustment of perspective parameters according to different robot models or work scenarios.

[0081] Furthermore, the switched monitoring footage is displayed in real-time on the visual monitoring terminal, enabling operators to obtain the optimal observation angle at different task stages. Specifically, the switched monitoring footage is displayed in real-time on the visual monitoring terminal, employing real-time rendering technology, scene adaptive adjustment, and dynamic updates to ensure optimal display effects. The real-time rendering technology uses the Three.js rendering engine to achieve hardware-accelerated real-time 3D rendering, maintaining a rendering frame rate of 60FPS to ensure smooth, lag-free visuals. Scene adaptive adjustment dynamically adjusts the camera projection matrix based on the window size to maintain correct aspect ratios, supports high-DPI displays, and automatically adjusts the pixel ratio for clear display. Dynamic updates involve the model continuously monitoring the robot's task stages; when the task stage changes again, the aforementioned perspective switching method is repeated to achieve dynamic adaptive switching of the monitoring perspective.

[0082] Therefore, this embodiment automatically matches the robot's task phase with the monitoring perspective, ensuring the monitoring screen is always at the most suitable viewing angle for the current operation. This avoids arbitrary perspective selection and eliminates the need for frequent manual switching, effectively reducing operator workload and improving monitoring efficiency. Simultaneously, it provides more reasonable viewing angles during critical phases such as cleaning, turning, obstacle avoidance, and anomaly handling, reducing blind spots and enhancing the ability to detect risks and anomalies. Furthermore, by using an oblique perspective during the cleaning phase to clearly observe the contact state between the brush and the photovoltaic panel, it significantly improves the accuracy of work quality assessment. Moreover, it can be applied to different models and structures of photovoltaic cleaning robots, exhibiting good versatility and scalability. This transforms robot monitoring from "passive display" to "active adaptation," comprehensively enhancing the intelligence and visualization level of the photovoltaic cleaning robot monitoring system.

[0083] like Figure 2 As shown in some embodiments of this application, a viewpoint switching system for a photovoltaic robot is provided. The system includes a first module 210, a recognition module 220, a matching module 230, a second module 240, a generation module 250, and a control module 260. Specifically: The first module 210 is used to obtain the real-time operating status of the photovoltaic robot; The identification module 220 is used to identify the current task stage of the photovoltaic robot based on its real-time operating status. The matching module 230 is used to match the corresponding target monitoring view in the association database of the photovoltaic robot according to the current task stage of the photovoltaic robot; the association database stores the association relationship between preset task stages and preset monitoring views; The second module 240 is used to obtain the real-time view parameters of the photovoltaic robot when the real-time operating status changes. The generation module 250 is used to generate smooth transition animation data based on real-time view parameters and target monitoring view. The control module 260 is used to control the photovoltaic robot to switch perspectives based on the smooth transition animation data.

[0084] It should be noted that the photovoltaic robot perspective switching system provided in this embodiment is based on the same inventive concept as the photovoltaic robot perspective switching method described above. Therefore, the relevant content of the photovoltaic robot perspective switching method described above also applies to the photovoltaic robot perspective switching system. Therefore, it will not be repeated here.

[0085] The system identifies the current task stage of the photovoltaic robot based on its real-time operating status. Based on this stage, it matches the corresponding target monitoring perspective in the robot's associated database. The database stores the relationships between preset task stages and preset monitoring perspectives. When the real-time operating status changes, the system acquires the photovoltaic robot's real-time perspective parameters. Based on these parameters and the target monitoring perspective, it generates smooth transition animation data. Finally, it controls the photovoltaic robot to switch perspectives based on this animation data. This allows for dynamic adaptive matching and smooth switching between monitoring perspectives and operational tasks by identifying the optimal perspective based on the task stage and generating smooth transition animation data based on real-time parameters. This improves the intelligence level of monitoring and operational efficiency.

[0086] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described photovoltaic robot perspective switching method.

[0087] like Figure 3 , Figure 3 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. The electronic device includes: At least one battery; At least one memory; At least one processor; At least one program; The program is stored in memory, and the processor executes at least one program to implement the above-described method for switching the perspective of a photovoltaic robot.

[0088] This electronic device can be any smart terminal, including mobile phones, tablets, personal digital assistants (PDAs), and in-vehicle computers.

[0089] The electronic devices according to embodiments of this application will now be described in detail.

[0090] The processor 1600 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this disclosure. The memory 1700 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1700 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1700 and is called and executed by the processor 1600 to execute a viewpoint switching method for a photovoltaic robot according to an embodiment of this disclosure.

[0091] The input / output interface 1800 is used to implement information input and output. The communication interface 1900 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 2000 transmits information between various components of the device (e.g., processor 1600, memory 1700, input / output interface 1800, and communication interface 1900); The processor 1600, memory 1700, input / output interface 1800 and communication interface 1900 are connected to each other within the device via bus 2000.

[0092] This disclosure also provides a storage medium, which is a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the above-described method for switching the perspective of a photovoltaic robot.

[0093] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0094] The embodiments described in this disclosure are for the purpose of more clearly illustrating the technical solutions of this disclosure and do not constitute a limitation on the technical solutions provided by this disclosure. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by this disclosure are also applicable to similar technical problems.

[0095] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this disclosure, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0096] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0097] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0098] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any related variations, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0099] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0101] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0102] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0103] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0104] The above is a detailed description of the preferred embodiments of this application. However, the embodiments of this application are not limited to the above-described implementation methods. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the embodiments of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of the embodiments of this application.

[0105] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A method for switching the viewpoint of a photovoltaic robot, characterized in that, The method includes: Obtain the real-time operating status of the photovoltaic robot; The current task stage of the photovoltaic robot is identified based on the real-time operating status; Based on the current task stage of the photovoltaic robot, a corresponding target monitoring perspective is matched in the association database of the photovoltaic robot; the association database stores the association relationship between preset task stages and preset monitoring perspectives; When the real-time operating state changes, the real-time view parameters of the photovoltaic robot are obtained; Based on the real-time view parameters and the target monitoring view, generate smooth transition animation data; Based on the smooth transition animation data, the photovoltaic robot is controlled to switch perspectives.

2. The viewpoint switching method for a photovoltaic robot according to claim 1, characterized in that, The task phases include a movement phase, a turning phase, an obstacle avoidance phase, and a cleaning phase. The preset monitoring perspectives include a bird's-eye view, a left oblique view, and a right oblique view. Matching the corresponding target monitoring perspective in the photovoltaic robot's associated database based on the current task phase of the photovoltaic robot includes: When the photovoltaic robot is currently in the moving phase or the turning phase, the bird's-eye view is matched as the target monitoring view. When the photovoltaic robot is currently in the cleaning stage, the left oblique view or the right oblique view is matched as the target monitoring view. When the photovoltaic robot is currently in the obstacle avoidance phase of its task, the left oblique view, the right oblique view, or a combination of views are matched as the target monitoring view; the combination view includes at least one of the bird's-eye view, the left oblique view, and the right oblique view.

3. The viewpoint switching method for a photovoltaic robot according to claim 2, characterized in that, The cleaning phase includes a left cleaning phase and a right cleaning phase. When the photovoltaic robot is currently in the cleaning phase, matching the left oblique view or the right oblique view as the target monitoring view includes: The real-time operating status is analyzed, and the joint curvature values ​​of the photovoltaic robot's robotic arm are extracted. If the joint curvature value of the robotic arm is greater than a preset threshold, the current task stage of the photovoltaic robot is determined to be the right cleaning stage, and the right oblique view is matched as the target monitoring view. If the arc value of the robotic arm joint is less than or equal to a preset threshold, the current task stage of the photovoltaic robot is determined to be the left cleaning stage, and the left oblique angle is matched as the target monitoring angle.

4. The viewpoint switching method for a photovoltaic robot according to claim 1, characterized in that, The real-time viewpoint parameters include camera position coordinates, scene rotation angle, controller target point, and real-time monitoring viewpoint. The generation of smooth transition animation data based on the real-time viewpoint parameters and the target monitoring viewpoint includes: The current time progress of the photovoltaic robot is processed to obtain the easing progress; Based on the easing progress, within the preset animation duration, multi-dimensional interpolation calculations are performed on the camera position coordinates, the scene rotation angle, and the controller target point to obtain the transition position coordinates, transition rotation angle, and transition target point. Based on the transition position coordinates, the transition rotation angle, and the transition target point, generate smooth transition animation data from the real-time monitoring perspective to the target monitoring perspective.

5. The viewpoint switching method for a photovoltaic robot according to claim 4, characterized in that, The step of processing the current time progress of the photovoltaic robot to obtain the easing progress includes: calculating the current time progress using a cubic easing function to obtain the easing progress.

6. The viewpoint switching method for a photovoltaic robot according to claim 1, characterized in that, The step of controlling the photovoltaic robot to switch perspectives based on the smooth transition animation data includes: The smooth transition animation data is sent to the monitoring and rendering module associated with the photovoltaic robot; The monitoring and rendering module renders the transition view frame by frame, and adjusts the camera projection matrix according to the display window size of the photovoltaic robot's monitoring terminal, so as to push the rendered transition view to the photovoltaic robot's monitoring terminal for display in real time.

7. The viewpoint switching method for a photovoltaic robot according to claim 1, characterized in that, After controlling the photovoltaic robot to switch perspectives based on the smooth transition animation data, the method further includes: Real-time monitoring of the communication link status and data integrity of the photovoltaic robot; In the event of an abnormality in the communication link status or data integrity, the task process of the photovoltaic robot shall be terminated, while the real-time monitoring view of the monitoring terminal of the photovoltaic robot shall be maintained.

8. A perspective switching system for a photovoltaic robot, characterized in that, The system includes: The first module is used to obtain the real-time operating status of the photovoltaic robot; The identification module is used to identify the current task stage of the photovoltaic robot based on the real-time operating status. The matching module is used to match the corresponding target monitoring view in the association database of the photovoltaic robot according to the current task stage of the photovoltaic robot; the association database stores the association relationship between preset task stages and preset monitoring views; The second module is used to obtain the real-time view parameters of the photovoltaic robot when the real-time operating state changes. The generation module is used to generate smooth transition animation data based on the real-time view parameters and the target monitoring view. The control module is used to control the photovoltaic robot to switch perspectives based on the smooth transition animation data.

9. An electronic device, characterized in that, It includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, which, when executed by the at least one control processor, enable the at least one control processor to perform a viewpoint switching method for a photovoltaic robot according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform a viewpoint switching method for a photovoltaic robot as described in any one of claims 1 to 7.

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