光伏清洗机器人实时环境构建与路径规划技术的研究
牛永超
（中核坤华能源发展有限公司，浙江 杭州 311113）
摘要： 光伏发电的发电效率在很大程度上与电池板的清洁有关，研究具备自动构建环境信息并自主规划路径能力且
成本低廉的光伏清洗机器人，具有非常重要的意义和推广前景。提出了针对此种机器人的实时三维环境构建与路径规划
算法，并采用履带机器人进行了模拟电站场景下的试验，验证了该算法较好的可行性和鲁棒性。
关键词： 光伏清洗机器人；三维环境构建；路径规划
中图分类号： TP242     文献标志码： A     文章编号： 2095-0802-(2020)10-0058-05
Research on Real-time Environment Construction and Path Planning Technology for Photovoltaic
Cleaning Robot
NIU Yongchao
(CNNP Kunhua Energy Development Co., Ltd., Hangzhou 311113, Zhejiang, China)
Abstract: Solar power generation efficiency is closely related to the cleaning of the battery panel. It is of very important significance
and promotion prospects to research on low-cost photovoltaic cleaning robots with the ability to automatically construct
environmental information and autonomously plan paths. This paper proposed an algorithm for the real time 3D environment construction
and path planning for this kind of robot, and then carried out a series of crawler robotic experiments in a simulated solar
power plant scenario, from which it showed that the algorithm was feasible and robust.

 Key words: photovoltaic cleaning robot; 3D environment construction; path planning