基于分层代价地图的光伏电站清扫机器人导航方法

Navigation method for cleaning robot of photovoltaic power station based on hierarchical cost map

为更好地解决光伏电站清扫机器人工作时因缺少有效边界检测导致的跌落问题,并满足全覆盖清扫工作的需求,提出一种基于分层代价地图的导航方法。在传统分层代价地图的图层上,根据对光伏电站清扫机器人工作环境的分析,增加光伏阵列边界图层,建立清扫区域,使机器人工作空间约束在光伏阵列内;采用弓字形清扫路径和多点巡航清扫策略相结合的导航方法,实现清扫区域全遍历;同时引进第二轮清扫判断,去除阵列表面的残留污染物,提高了机器人的清扫效率。试验结果表明,所提出的导航方法解决了光伏电站清扫机器人工作时因缺少有效边界检测导致的跌落问题,并可以有效地完成全覆盖清扫工作。

In order to better solve the drop problem of cleaning robot caused by the lack of effective boundary detection and satisfy the requirement of full coverage cleaning,a navigation method based on the hierarchical cost map is proposed for the cleaning robot of photovoltaic(PV)systems.On the layer of the traditional hierarchical cost map,the boundary layer of the PV array is added to establish the cleaning area,according to the analysis of the working environment of the robot,so that the working space of the robot can be constrained in the PV array.Then,the navigation strategy combining the bow shape cleaning path and multi-point navigation is adopted to realize the full traversal of cleaning area.Moreover,the second round of cleaning judgment is introduced to remove the residual contaminants on the surface of PV array,which improves the cleaning efficiency of robot.The experimental results show that the proposed navigation method can solve the drop problem of robot due to the failure of boundary detection,and the robot can effectively complete the full coverage cleaning work.