Development Of A Negative Pressure Adsorption Type Six-wheel Waterless Cleaning Robot For Photovoltaic Module Dust Accumulation

This topic proposes and designs a six-wheel-driven photovoltaic module cleaning robot with a combination of rotating roller brushes and negative pressure adsorption.The cleaning robot can drive freely on the surface of the photovoltaic array on the urban roof,which solves the problems of the large array paving area,which increases the workload of manual cleaning,and the difficulty of cleaning a large number of locations.At the same time,the corresponding control function is designed.The main research contents and achievements of this paper are as follows:On the basis of analyzing the functional requirements of the negative pressure adsorption type six-wheel waterless cleaning robot for photovoltaic modules,the overall design scheme of the cleaning robot is proposed,which mainly includes mechanical structure,hardware system and software system.The mechanical structure of the cleaning robot includes the carrier system,the cleaning system and the overall structure.Therefore,the cleaning robot adopts the operation mode of"six-wheel movement+double negative pressure adsorption",which can realize the robot to move freely in the photovoltaic array with an inclination angle of 20°;It can efficiently complete the dust cleaning on the surface of photovoltaic panels.This topic designs the hardware system of the negative pressure adsorption type six-wheel waterless cleaning robot of photovoltaic modules.The system uses the microcontroller Atxmega128 as the main controller of the robot,and then uses the power step-down module,motor drive module,gyroscope module,ranging module,The wireless communication module,positioning module and other parts together constitute a complete set of cleaning robot hardware control system.After testing,the designed hardware equipment can support the negative pressure adsorption type six-wheel waterless cleaning robot of photovoltaic modules to complete the functions of stable power supply,motor operation,attitude angle detection,edge detection,wireless data transmission and positioning.According to the actual situation of the robot running in the field and various tasks that the robot needs to complete,this topic has carried out the design of the cleaning robot software system.In this process,the cleaning robot can complete the calculation of the attitude angle of the gyroscope,realize the positioning function in the photovoltaic array,complete the communication system,realize the travel algorithm,path planning,and finally complete the cleaning cycle planning of the robot.The above content can also provide a software basis for subsequent field performance tests.The performance evaluation of the negative pressure adsorption six-wheel waterless cleaning robot was carried out,and the robot performance test experimental platform was established to test the overall function of the cleaning robot and the functions of the hardware and software systems.The results show that the cleaning robot has a single travel distance of more than 200m,it can operate safely on the photovoltaic array with a 20°installation inclination and a 20mm module gap;when the dust accumulation of the photovoltaic modules is4g/m~2,6g/m~2,and 8g/m~2,respectively,the cleaning efficiency of the cleaning robot reaches92.14%,91.04%and 90.09%;the data change error of the X and Y axes of the gyroscope attitude angle does not exceed 0.15°,while the error of the Z axis data can be kept within 0.1;in terms of positioning performance,for photovoltaics with an installation angle within 20,the deviations in both X and Y directions are within±4cm;when the two path planning of the cleaning robot runs in the photovoltaic array,the overall deviation can be guaranteed not to exceed±3°and the stains at the preset points will be cleaned;The cleaning cycle optimization method analyzes the cleaning cycle and cleaning cost of robots and manual workers.The cleaning cycle of the two cleaning methods for 1MW photovoltaic power station is shortened by 22.6 days,and the cleaning cycle of 2MW photovoltaic power station is shortened by 21.8 days.The cost difference between the two cleaning methods of the Watt photovoltaic power station reaches 32,100 yuan,which can verify the effectiveness of the cleaning robot in cleaning the dust accumulation of photovoltaic modules.