基于Python微型多足光伏移动清洁机器人控制系统设计
Design of Control System for Micro Multi Legged Photovoltaic Mobile Cleaning Robot Based on Python

为实现光伏板自动清洁、降低人工除尘方式费时费力且成本昂贵，本文设计一款微型多足光伏移动清洁机器人控制系统。系统以树莓派单片机为控制器中心模块，辅以超声波传感器模块、电源模块、通信模块和驱动电机模块来实现光伏太阳能板的清洁工作，同时通过软件设计，赋予机器人自动避障和目标追踪的功能来辅助完成光伏太阳能板清洁工作，实现自动清洁的功能。用户还可以通过蓝牙连接手动控制机器人进行清洁作业。实物测试结果显示：本文所述基于Python微型多足光伏移动清洁机器人具备寻迹、避障、识别、抓取等系列操作功能，在光伏板清洁方面具有一定的应用前景。
To achieve automatic cleaning of photovoltaic panels and reduce the time-consuming, labor-in- tensive, and expensive manual dust removal methods, this article designs a control system for a micro multi legged photovoltaic mobile cleaning robot. The system uses a Raspberry Pi microcontroller as the central module of the controller, supplemented by an ultrasonic sensor module, power module, communication module, and drive motor module to achieve the cleaning work of photovoltaic solar panels. At the same time, through software design, the robot is endowed with the functions of automatic obstacle avoidance and target tracking to assist in completing the cleaning work of photovoltaic solar panels, achieving the function of automatic cleaning. Users can also manually control the robot for cleaning operations through bluetooth connection. The physical test results show that the python based micro multi legged photovoltaic mobile cleaning robot described in this article has a series of operation functions such as tracking, obstacle avoidance, recognition, and grasping, and has certain application prospects in photovoltaic panel cleaning.