CN CN121523396A
The invention relates to a photovoltaic module cleaning robot autonomous throwing method and system based on an unmanned aerial vehicle, and the method comprises the steps: carrying out the inspection of photovoltaic modules, and recognizing the photovoltaic modules with bird droppings and dust deposition defects; mapping and solving the position coordinates of the defective photovoltaic module; based on latitude and longitude coordinates of the photovoltaic module with the defects, a transportation and delivery path of the unmanned aerial vehicle is autonomously planned; the method comprises the following steps: establishing a dynamics and kinematics model of a four-rotor transportation unmanned aerial vehicle hanging load system based on a Lagrange equation, and performing arrangement in an Euler-Poincare form and simplification in a two-dimensional form; through input shaping and expected track signal generation, a disturbance suppression controller is designed based on PLLO-LADRC to realize swing suppression of the suspended photovoltaic module cleaning robot and wind speed interference resistance; an airborne computer carried by the unmanned aerial vehicle is in communication linkage with a controller embedded in the mechanical claw, and through setting of a control mechanism, the cleaning robot is precisely put to the position above a photovoltaic module with defects.
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