Design And Research Of Inspection Robot Based On Flexible CIGS Thin Film Solar Cell

Inspection robots can replace humans and have great market potential in park inspections.The solar-powered inspection robot has a longer working time than an ordinary lithium-ion battery-powered inspection robot.This thesis designs a wheeled flexible CIGS thin-film solar cell inspection robot based on the ROS platform.The inspection robot uses Raspberry Pi as the main control,and the embedded version of the bottom layer adopts the STM32 embedded system.Use lidar,IMU,odometer to collect environmental information,create robot URDF model based on ROS platform,use xacro model file to optimize and simulate in Gazebo.Gmapping and Cartographer are used to build maps.The global path planning uses the A*algorithm.The local path planning uses the dynamic window approach.In the actual test,the solar inspection robot can realize autonomous navigation and obstacle avoidance functions.The experimental conditions of the buffer layer of CIGS thin-film solar cells were changed,and a cubic Cd_1-xZn_xS thin film with a compact surface and a band gap of 3.31e V was developed.The mismatch between Cd_1-xZn_xS film and CIGS is only0.56%,which is 0.41%lower than that of the traditional buffer layer Cd S film.The interface state density is only 10¹²,which is 10²orders of magnitude lower than Cd S.CIGS thin-film solar cell simulation is carried out through SCAPS software,and the efficiency reaches 23.5%.The CIGS thin-film solar cell is applied to the body of the inspection robot,and the photovoltaic device is remotely operated by an electric push rod to retract and unfold.The photovoltaic battery power management system is used to manage the power and energy of the solar inspection robot,and the power generation of the CIGS thin-film battery is tested by the power meter,which can be used for the solar inspection robot to work for 12 hours.