微型电脑应用2025，Vol.41Issue(2)：162-166,170,6.
基于全景视觉的光伏可调支架清扫机器人导航方法
Navigation Method of Photovoltaic Adjustable Support Cleaning Robot Based on Panoramic Vision
刘国能 1王旭花 1刘拓 1原坤 1雷江1
作者信息
- 1. 国家电投集团陕西新能源有限公司渭南分公司,陕西,渭南 714000
- 折叠
摘要
Abstract
To solve the problem of insufficient navigation ability of photovoltaic adjustable support cleaning robot,a navigation method of photovoltaic adjustable support cleaning robot based on panoramic vision is proposed.The anti-drift device is de-signed by model-based predictive control(MPC)technology,equations are constructed by analyzing the state of the sweeper during its actual operation,a model is built and the corresponding predicted values are calculated,thereby guiding the sweeper to move,reducing the occurrence of navigation drift,and improving the positioning accuracy.Based on scale-invariant feature transform(SIFT),the minimum kernel similar region optimization algorithm is introduced to calculate the response value of each point,optimize the panoramic vision image,and improve the efficiency of the navigation and positioning of the sweeper.Experimental results show that the navigation and positioning time of the proposed method is only 18.38％of that of the tradi-tional SIFT algorithm.The correction efficiency of drift angle is increased by 39.29 percentage points.The proposed method makes the moving state of the sweeper more stable,improves the navigation accuracy,and effectively improves the navigation ability of the cleaning robot.关键词
全景视觉/光伏组件/清扫机器人/MPC/SIFTKey words
panoramic vision/photovoltaic module/cleaning robot/MPC/SIFT分类
信息技术与安全科学引用本文复制引用
刘国能,王旭花,刘拓,原坤,雷江..基于全景视觉的光伏可调支架清扫机器人导航方法[J].微型电脑应用,2025,41(2):162-166,170,6.
