Robot İşletim Sistemi Tabanlı Güneş Paneli Temizleme ve Kırık Panel Alanı Algılama Robotunun Benzetim Çalışması ve Mobil Kontrolü

Öz

Günümüzde güneş enerjisi hem yenilenebilir hem de çevre dostu olması nedeniyle artan enerji talebini karşılamak için öne çıkan bir seçenektir. Işığı elektriğe dönüştüren fotovoltaik (PV) sistemlerin verimliliği, panele düşen ışık miktarına bağlıdır. Bu nedenle, toz ve kiri temizlemek ve kırık panelleri tespit edip onarmak için panelleri düzenli olarak temizlemek önemlidir. Bu çalışma, mobil hareket sistem teknolojisine göre tasarlanmış bir güneş paneli temizleme robotunun benzetim çalışmasını sunmaktadır. Robot, güneş ışınlarının geçişini engelleyen toz ve kuş pislikleri gibi güneş panelinin verimliliğini etkileyen faktörleri temizlemek için tasarlanmış bir yörünge boyunca mobil hareket etmektedir. Bu hareket boyunca güneş panelinin verimliliğini etkileyen kırık ve çatlaklar tespit edilir. Paneldeki kırık alanlar, ROS2 ortamında simülasyon ile tasarlanmış ara yüzde gerçek zamanlı olarak görselleştirilir. YOLOv8 kullanılarak yapılan kırık tespiti başarılı sonuçlar elde edilmiştir. ROS2 ortamında, kırık ve çatlak bölgelerin sayısı değişen üç güneş paneli ile testinde başarılı sonuçlar bulunmuştur. Bu sonuçlar, ROS2 ortamındaki YOLOv8 algoritmasının paneldeki kırık alanları tespit edebildiğini ve kullanıcılara PyQt ara yüzünde bilgi sağlayabildiğini göstermiştir.

Anahtar Kelimeler

• görüntü işleme
• Haritalama
• Mobil robot
• ROS2
• Güneş panelleri
• YOLOv8

Simulation and Control of Robot Operating System Based Mobile Solar Panel Cleaning and Broken Panel Area Detection

Öz

Today, solar energy is a standout option for meeting the increasing energy demand, as it is both renewable and environmentally friendly. The efficiency of photovoltaic (PV) systems, which convert light into electricity, depends on the amount of light that falls on the panel. Therefore, it is important to clean the panels regularly to remove dust and dirt, and to detect and repair broken panels. This study presents a solar panel cleaning robot designed according to current mobile robotic system technology. The robot moves along a designed trajectory to clean the factors affecting the efficiency of the solar panel, such as dust and bird droppings, which prevent the passage of solar rays. Another factor affecting solar panel efficiency is damage to the panels, such as cracks and breaks. These are detected during the cleaning process by the orbital movement of the mobile robot. The broken areas on the panel are visualized in real time on the designed interface with simulation in the ROS2 environment. Fracture detection using YOLOv8 produced successful results, and the mobile robot was simulated in the ROS2 environment. Three solar panels with a varying number of fractured and cracked regions were tested in the ROS2 environment, and successful results were observed. These results demonstrate that the YOLOv8 algorithm in the ROS2 environment can detect broken areas on the panel and provide users with information on the PyQt interface.

Anahtar Kelimeler

• Image processing
• Mapping
• Mobile robot
• ROS2
• Solar panels
• YOLOv8

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