Design And Implementation Of Photovoltaic Cleaning Robot

With the increasingly severe energy crisis and environmental pollution situation in China,solar photovoltaic power generation technology has gradually attracted people's attention.In the research of photovoltaic power generation system,the deposition of dust,dust and other particles on the photovoltaic surface is a problem that cannot be ignored for long-term operation of photovoltaic power generation system.Aiming at the cleaning problem of photovoltaic arrays,this paper proposes and designs a vacuum adsorption photovoltaic cleaning structure with crawler belt as the moving mode,which effectively improves the disadvantages of heavy lifting and difficult movement of traditional cleaning methods.The main contents and research results of this paper are as follows:Firstly,the technical difficulties in the theoretical and practical development of photovoltaic cleaning robot moving and adsorption technology and photovoltaic surface cleaning technology are analyzed.A crawler-type photovoltaic cleaning robot with passive adsorption multi-suction plate structure is designed.Secondly,the motion and adsorption stability of the robot are analyzed.The kinematics model and trajectory control error model of the crawler robot are established.The tracking control law which satisfies the Lyapunov stability criterion and the Barbalat lemma is designed and applied to the crawler-type photovoltaic cleaning robot.On the trajectory control,the stability of the moving adsorption of the robot under the trajectory motion control is verified by MATLAB simulation.The stability analysis of the passive adsorption structure of the robot is carried out,and the key factors affecting the stability of the robot adsorption system are analyzed.Based on the stability of mobile adsorption,the path planning and cleaning scheme of robot cleaning are analyzed and explained.The path planning analysis of the cleaning scheme is carried out by grid method,and the feasibility and stability of the cleaning path are verified.Based on the design,there are two cleaning schemes: automatic cleaning and empty cleaning.Finally,the main control chip,crawler motor,cleaning device and remote communication mode of the hardware control system are selected,and the related hardware circuits are designed.Under the development environment of Visual Studio2010,the remote control software of the upper computer is programmed;Based on the control system,a prototype of the robot experiment is made to improve the functions of the photovoltaic panel cleaning robot.