The Design And Key Technology Research Of Photovoltaic Panel Cleaning Robot

As the installed capacity of solar power generation grows in worldwide,the related research on improving photovoltaic conversion efficiency has attracted people's attention.There are many factors affecting the efficiency of photoelectric conversion,and one of the most influential factors of the photoelectric conversion efficiency is the dust cover on the surface of the photovoltaic panel.The accumulation of dust on the surface of photovoltaic panels not only affects the photoelectric conversion efficiency of photovoltaic panels,but also causes the uneven temperature of photovoltaic surface,which leads to the damage of photovoltaic panels.Therefore,it is of great significance to keep the cleaning of the surface of the photovoltaic panel to improve the photoelectric conversion efficiency and prolong the service life of the photovoltaic panel.In view of the problem of surface cleaning of solar panels,a solar panel cleaning robot based on embedded microprocessor is designed in this paper.The cleaning robot can realize automatic cleaning of solar panels in solar power stations.This paper mainly discusses the position estimation and trajectory tracking control of the cleaning robot,Base on these algorithms the control system circuit and control program was designed in this paper.First,the design requirements of the solar panel cleaning robot were analyzed in this paper.And base the design requirements,the mechanical structure of the robot was designed.The hardware platform based on STM32F407 was designed according the designing principle of modernized structure.And the interface circuit,power supply and navigation system were designed.Secondly,we select the minimum linear variance gain by replacing the observed noise covariance with the maximum likelihood estimation based on online gain variance,and construct an adaptive extended Kalman filter.We use low-cost sensors to get more accurate pose estimation.After getting the pose estimation of mobile robot,the mobile robot for position tracking using the trajectory tracking controller is composed of the position control loop and attitude control loop,the inner control loop convergence rate of uncontrollable circumstances,namely when the mobile robot is the actual attitude angle and the attitude angle of the target is relatively large,the controller can achieve effective tracking of target trajectory.Finally,on the basis of the cleaning effect and efficiency,the online trajectory planning rules of the cleaning robot are designed.According to the cleaning robot control system hardware circuit and the cleaning path,completed the software design of the control system,analyzes the realization of location information acquisition,walking control,automatic and timing cleaning function of the software,while the development of the system of human-computer interaction interface...