Visual Research On Path Planning Of Photovoltaic Cleaning Mobile Robot Based On Unity3D

Solar energy plays an irreplaceable role in people's daily life.As the main source of solar energy,solar photovoltaic power plant has a direct impact on the efficiency of the whole solar industry.The efficiency of solar photovoltaic power is affected by many factors.Under the actual conditions,dust and wind sand that gathered on the surface of the photovoltaic panel to a certain extent will lessen the efficiency of power plant even burn or damage the photovoltaic panel.To improve the efficiency of power generation,it is very necessary to clean the dust timely.Being high efficiency,environmental protection and other advantages,cleaning mobile robot is widely favored in many fields.In the process of cleaning large-scale solar power plants with cleaning mobile robots,the first problem to be solved is how to obtain the r obot path.Therefore,it is of great significance to study the path planning and visualization of solar photovoltaic cleaning mobile robots.This paper mainly focuses on the path planning of the solar photovoltaic panel cleaning mobile robot in the actual situation from the true terrain.Based on the game engine software unity3D,the scene roaming and the visual dynamic simulation of path planning are carried out to realize the real-time monitoring of the cleaning mobile machine while working in the large power plant.The main work as follows:(1)This paper mainly studies the power plants of the photovoltaic power generation industrial park at Qili Town of Dunhuang City in the Northwest Mountainous Area.To obtain the map of path planning,there are two ke y things required.The first one is the construction of real terrain.Bing map satellite cloud map and software World Composer are combined to create the real terrain;The second one is the foundation of actual map.Based on the real terrain and 3D modeling software 3dsMAX,the actual map of the cleaning mobile robot can be established and used to the next path planning.(2)The improved A~*algorithm combined with the hop search algorithm is used to plan the actual map.By realizing the long-distance jumping,the improved A~*algorithm can reduce the running time and memory overhead greatly.On this condition,the efficiency of path finding and working will be significantly improved.The simulation results show that the algorithm can achieve fast dynamic real-time path planning of the robot,and can meet the actual requirements of clean mobile robot.(3)Based on software of Unity3d,the path planning of the cleaning mobile robot in the actual map is displayed dynamically and visually.On this basis,the actua l scene is roamed by using the mouse and keyboard to realize the dynamic display and real-time monitoring of the cleaning mobile robot.In this paper,the Unity3D and 3dsMAX are used to build the real environment topographic map of photovoltaic panel on the terrain.On this basis,the improved A~*algorithm with jump point strategy is used to optimize the path.Finally,it provides theoretical basis and key technology to solve the path planning problem of large-scale solar power station when using robot to carry out cleaning operation in the complex terrain environment of Western China.