Research on the route of electric patrol car based on spiral motion model

Abstract

The rapid growth of photovoltaic (PV) energy has made heliostat fields essential in industrial aspects. They served as key devices for collecting and focusing solar power. How to ensure the inspecting equipment of the heliostat works efficiently in their worksite, however, has become a challenging task since the enlargement of size and complexity of our heliostat. In this study, a path-planning method based on equidistant solenoids was delivered, enabling the kart to inspect more efficiently and reducing the risk of impact. This paper improves inspection efficiency by planning the shortest route and reducing turning times, by constructing the Archimedean Spiral Motion Model and optimizing it using a binary method.According to our research, the kart we applied to this method can run smoothly, in other words, at constant speed. This paper has cut 30% of inspection time and reduced the impact risk with the heliostat. Our algorithm has effectively alerted over 90% of the underlying impact situation, which massively increased the safety and stability of the system. The research has supported a reliable technical basis in intelligent inspection in the PV energy field.