The invention provides a full-coverage cleaning modular control method and
system for a photovoltaic cleaning
robot. According to the method, a photovoltaic panel three-dimensional
terrain model is constructed by collecting
laser ranging, photovoltaic panel surface temperature distribution, environment
airflow and position relation data; and generating an obstacle distribution map based on the model, and dynamically analyzing
gap width and attachment height parameters of the cleaning area. Therefore, the bending angle and the telescopic amplitude of a connecting part of the cleaning module are adjusted in real time, and
robot pose information is synchronously updated. And in combination with the position data, the obstacle map and the
pose of the whole
robot, an uncleaned area identifier and a dynamic coverage path are generated, and information is shared through a
wireless network. The
system dynamically distributes working areas and advancing directions of the multiple robots, and efficient cooperative full-coverage cleaning of the photovoltaic array is achieved. According to the technical scheme provided by the invention, through multi-source environment
perception and dynamic
pose adjustment, intelligent path cooperation and full-coverage operation of multiple cleaning robots are realized.