The Design Of Travel Mechanism And Path Planning Research For PV Module Cleaning Robot

With the rapid development of renewable energy,photovoltaic power generation has become one of the main form of leverage in new energy.Photovoltaic modules is common devices to realize the photovoltaic,the conversion efficiency is the main indicators for performance evaluation.However,the phenomenon of accumulated dust on the modules face is the key factor of the photoelectric conversion efficiency is reduced,and has the potential to formed hot spot effect,when the problem gets more serious,the modules will be damaged.Therefore,to reduce or remove the dust on the surface of the pv modules is very important and necessary.In this paper,on the basis of analyzing the existing device of photovoltaic modules dust removal,combining with the results in the early period of our laboratory,design,manufacture and validation of the main structure of a photovoltaic modules clean robot.and through the study of complete coverage path planning algorithm to provide the basis for the control of the robot.First,Analyses the design target and target parameters of the cleaning robot,completed the basic configuration design of travel mechanism;and through the ANSYS finite element analysis of the original structure,propose the Structural optimization target,complete improvement design of structure;at the same time to complete construction of Lagrange dynamics equation,the maximum output of movement joint are calculated,and simulated by SolidWorks motion,to determine the model of motor.Second,Through the analysis of the force state of robots and suction cups,to sum up the suction cups design conditions of sliding,overturning and reverse will not occur,verify the reliability of the suction cups design with a robot;by comparison with the deformation and stress that In both cases under the mechanical load of GB/T9535 and gravity load of the robot,verified the rationality of the design of suction cups.Next,according to the working environment and working characteristics of the cleaning robot,the thought of complete coverage path planning research train is determined,through the grid method to build the environment model with global coordinate system,established the mathematical model of the optimal path,and designed two kinds of genetic algorithm to solve the model,got the Path planning algorithm,provide the basis for the control of robot.Last,through the prototype test to verify the reliability of suction cups design and the finite element model of the photovoltaic components under load,the results show that the design of structure is reliable and reasonable,by setting condition of case simulation of path planning algorithm,output results show that the algorithm is reasonable and feasible.