| With the utilization of fossil energy greatly reduced,the development of renewable energy has been a big trend.Photovoltaic energy,as an important part of it,has also received a lot of policy support from the country,and more and more Photovoltaic（PV）power plants are put into actual operation.However,there is a serious problem in photovoltaic power generation,that is,when the surface of the photovoltaic panel is accumulated by some dust and other dirt,the power generation performance of the photovoltaic system is seriously degraded.Therefore,effective cleaning of PV panels is a great challenge.Although there are also programs such as manual cleaning,partial photovoltaic cleaning devices developed by related agencies trying to solve the problem of contaminant accumulation on the surface of PV panels,there are still some limitations:（1）accumulation of contaminants such as dust and guano will still be present,and cleaning effects for these different contaminants vary;（2）when the photovoltaic plates are installed considering the problems of land use,build-up cost,geographical location,and so on,the actual installation tilt angle of the photovoltaic plates will also be different,part of the cleaning robot can’t adapt to different regions,different tilt angle of the photovoltaic plates to complete the cleaning work;（3）some PV power stations are spatially arranged densely when designed,making some large cleaning machinery unable to work inside.To solve the above problems in current photovoltaic plate cleaning,based on the practical needs of PV power stations in different latitudes,a novel latitude adaptive amphibian photovoltaic plate cleaning system is proposed and trial produced in this paper.The system consists of an on-board cleaning robot and a ground coordination robot,which can operate in an amphibious manner both in the pv array plane and on the ground.The main content and relevant findings of this paper are as follows:（1）Designed an on-board cleaning robot based on vacuum adsorption mode and adaptable with different angles.Its main compositions include vacuum adsorption structure,track driving structure,cleaning mechanism and so on.The minimum adsorption forces when facing different angles were determined by kinematic analysis of the robot on the plate,and finite element analysis and actual minimum adsorption experiments were performed by Solid Works simulation.Based on this design on on-board robotic control system and assortative assembly of physical prototyping is performed.（2）A ground coordination robot is designed,and the main mechanism components include a mechanical arm part,an electromagnetic docking device,a drive structure,etc.,in which the ground robot assists the on-board robot to cross a long-distance obstacle by controlling the mechanical arm with an electromagnetic docking device.Hardware selection such as related motors and real prototype assembly were accomplished and analyzed by robotic arm motion.（3）The remote control end of the photovoltaic board cleaning system was designed,and can make paired connections with the on-board robot,ground robot through wireless series port,and remote manipulation of them to complete the photovoltaic cleaning work.（4）The photovoltaic cleaning experimental platform is built up and the robotic pollutant cleaning experiment on this test plate is synergistically cleaned with the photovoltaic plate cleaning system.The test results showed that: for dust and guano common to PV plates,the designed PV plate cleaning system has good cleaning ability,the overall design of the PV plate cleaning system is reasonable and can stably complete the collaborative cleaning work. |
PDF Full Text Request