At present, all manufacturers are committed to improving the obstacle-crossing and anti-self-locking capabilities of cleaning robots, and have developed a variety of solutions, such as decentralized drive, new transmission technology, body structure optimization, etc., but have not yet found a cost-effective solution.
It has been found that when the tilting of the cleaning robot leads to excessive positive pressure on the guide wheel and insufficient obstacle crossing ability of the walking wheel, it is prone to "self-locking". A possible solution to this problem is to establish the equilibrium equation of the spatial force system, optimize the density, length, and hardness of the brush distribution, the diameter and spacing of the travel wheels, the number, spacing, and diameter of the guide wheels, the size of the robot frame, the output torque of the drive motor and other parameters, and supplemented with motor control algorithms to sense and adjust the travel wheel state in time to avoid "self-locking".
Technology development direction
The development direction of the cleaning robot technology for cleaning PV modules is mainly reflected in the following aspects.
1) Subdivision of application scenarios: Develop cleaning robots for different application scenarios in the form of PV power plants, and the scenarios can be subdivided into large inclination type, tiling type, large surface tiling type, flat single-axis tracking system, etc.
2) In-depth optimization design: The R&D direction focuses on lightweight design, parts selection, driving method, and algorithm, charging method, obstacle crossing algorithm, etc.
3) Intelligent: Establish a cloud platform for cleaning robots, share big data such as equipment operation parameters, power station generation, atmospheric environment, etc., supplemented by machine self-learning algorithms, in order to improve the intelligence of the equipment.
3 Conclusion
In this paper, three technical routes of single-row cleaning, cross-row cleaning, and portable cleaning are introduced for cleaning robots used for PV module cleaning, and the advantages and disadvantages of various technologies are explained; finally, the development direction of cleaning robots prospects.
