Design And Research Of Mobile Sorting Solar Robot

With the rapid development of economy,great progress has been made in the field of robots and artificial intelligence technology.Enterprises and universities continue to invest a lot of manpower and financial resources to research and develop related technologies and new products of robots.Industrial robots are one of the main research directions.The purpose is to improve the degree of mechanization of the factory and reduce the consumption of human resources.The research direction of sorting robots used to replace traditional repetitive work is more hot,and sorting robots can replace people to do dangerous,repetitive and dull work.However,currently,in the sorting robot research results and products displayed by universities and enterprises,the design scheme used is basically lithium battery power supply plus mechanical arm sorting.The sorting robot is powered by lithium batteries and has insufficient working time to reflect the automation characteristics of the robot.And the sorting robot body of this design is basically large,the fixed position of the mechanical arm is grabbed,it cannot move,and the spatial position of the grabbing is strictly required.These designs result in limitations of the sorting robot body and insufficient working time.A mobile sorting solar robot based on flexible copper indium gallium selenium Cu（In,Ga）Se₂ thin film solar cells is designed.According to the development direction of miniaturization,flexibility and intelligence of the robot,a photovoltaic power generation system and a composite robot body are designed.On the one hand,the preparation technology of Cd_xZn_1-xS thin-film buffer layer for thin-film solar cells was studied,and the concentration ratio of each solution was optimized.At the same time,the algorithm of the photovoltaic controller was improved by using the cuckoo search algorithm.The photovoltaic controller designed and manufactured can reach 1000 W power.For the photovoltaic power generation system of the robot,this paper designs a flexible CIGS off-grid mobile power supply,which can supply different power loads according to the different laying schemes of photovoltaic thin film modules.The power of the system ranges from 500 W to 5000 W,and the mobile sorting solar robot can basically work for up to 24 hours.On the other hand,the design and Simulation of the automatic control and navigation of the robot are optimized.The adaptive Montcarlov positioning and SLAM algorithms are applied to complete the positioning and environment mapping,and the DWA and A*algorithms are combined to achieve the automatic navigation.The flexibility of the robot is greatly increased.The moving chassis can move at a speed of 2 m/s,the clamping radius of the arm can reach 30 cm,and the clamping load can reach a maximum of 4.5 kg.The robot can move and navigate flexibly and perform sorting work.A scheme of color sorting is proposed in this paper.Based on the HSV function in Open CV library,the HSV threshold of color is set in the source code,and the corresponding color items are identified and picked up by the manipulator for sorting.This robot has the advantages of flexibility,environmental protection,long working time and strong expandability.It can be used in common scenarios such as express sorting,miscellaneous sorting,garbage sorting,etc.It can be extended to more fields in the future by further development and optimization.