Design And Research Of Solar Robot For Self-powered All-weather Clean Photovoltaic Power Station

In recent years,the installed capacity of photovoltaic power stations has been increasing day by day.In the actual operation of photovoltaic power stations,the impact of dust on the surface of photovoltaic modules on power generation is a problem that cannot be ignored.Aiming at the cleaning problem of photovoltaic power stations,this paper proposes and designs a solar robot for self-powered allweather clean photovoltaic power stations,which effectively improves the problems of traditional cleaning robots such as short cleaning time,bulky body,low intelligence and inability to install in complex terrain..The main content and research results of this paper are as follows:First of all,this paper introduces the status quo of clean photovoltaic power station robots at home and abroad,and finds the shortcomings of existing clean photovoltaic power station robots,which are huge in size,high in cost and difficult to install in complex terrain.The main structure and control system are analyzed and improved,and the operation mode of negative pressure adsorption and double crawler movement can realize the free movement of the robot on the photovoltaic module with a maximum inclination angle of 45°;at the same time,the cleaning method using high-density fiber cleaning cloth,The dust accumulated on the photovoltaic modules can be cleaned more thoroughly.The improved robot has the advantages of small size,low weight and strong adaptability.Secondly,the robot self-supply photovoltaic power generation system is designed and researched,and the robot self-supply can work around the clock.In order to improve the power generation efficiency,a maximum power point tracking algorithm combining the perturbation and observation method and the cuckoo search algorithm is proposed.Afterwards,the simulation and experiment are carried out,and the results show that the algorithm has obvious advantages in the maximum power point tracking speed and accuracy.improve.Design the hardware circuit of the selfpowered photovoltaic power generation system,and conduct experimental tests to verify its feasibility.Finally,the robot automatic control system is designed and researched.The robot automatic control system hardware consists of STM32F103ZET6 main controller,DC step-down module,motor drive module,edge detection module,air pressure detection module,attitude detection module,etc.According to the various work tasks that the robot needs to complete,the design of the automatic control system software is completed,and the edge detection and air pressure detection algorithms are introduced to realize the safe and stable work of the robot;a full-coverage path planning scheme is proposed,and the attitude calculation algorithm is used to realize the robot in large areas.On the inclined photovoltaic modules,clean the photovoltaic modules without dead ends according to the predetermined route.An experimental prototype of the robot was made.The main body size of the robot is 25cm*25cm*8cm,the weight is 1.2kg,and the rated power is 50 W.A split-type self-powered photovoltaic power generation system was fabricated.The overall operation of the robot was tested,including full coverage path planning test and cleaning performance test.After testing,the overall operation of the robot meets the expected requirements,and it can respond to route deviations in a timely manner.The overall deviation of the path planning algorithm does not exceed ±3°.The addition of a self-powered photovoltaic power generation system enables the robot to achieve self-powered,allweather work.