机电工程技术2025，Vol.54Issue(13)：48-53,6.DOI:10.3969/j.issn.1009-9492.2024.00195
基于巡检点位姿校正的光伏巡检机器人设计
Design of Photovoltaic Inspection Robot Based on Inspection Points Positioning and Posture Correction
摘要
Abstract
Due to the wide field of vision and empty field of photovoltaic power station,the environmental characteristics of photovoltaic array are sparse and the similarity is high,the photovoltaic inspection robot is prone to cause the problem of positioning deterioration due to the similar characteristics in the inspection positioning and navigation process.According to the characteristics of photovoltaic station and inspection requirements,a method is proposed that uses RFID beacon and QR-Code label to provide inspection point positioning and posture correction signals for photovoltaic inspection robots,so as to achieve accurate positioning and posture correction after positioning degradation.By presetting orientation parameters during inspection at the inspection point,the device orientation on the inspection platform is corrected to adjust the field of view and angle of inspection shooting,providing more efficient and easy-to-use inspection data for automatic identification of photovoltaic inspection,ensuring inspection coverage during continuous positioning and posture correction.Through the Gazebo simulation test,the operating photovoltaic inspection robot is simulated to produce positioning degradation.The test results show that when positioning degradation occurs,the photovoltaic inspection robot can realize positioning and posture correction through the positioning and posture correction method.Through repeated experiments,the success rate of calibration is more than 95%,which verifies the effectiveness of this method,and provides a reference for the application of photovoltaic inspection robots.关键词
光伏巡检/巡检点/RFID/QR-code/位姿校正Key words
photovoltaic inspection/inspection point/RFID/QR-code/positioning and posture correction分类
信息技术与安全科学引用本文复制引用
欧阳旭文,赖毅辉,谢芳娟,徐洪量..基于巡检点位姿校正的光伏巡检机器人设计[J].机电工程技术,2025,54(13):48-53,6.基金项目
江西省新能源工艺及装备工程技术研究中心2022年度开放基金(JXNE2022-06) （JXNE2022-06）
江西省教育科学"十四五"规划2022年度课题(22YB297) （22YB297）
江西省2022年教育厅教学改革项目(JXJG-22-23-13) （JXJG-22-23-13）
江西省2023年教育厅教学改革项目(JXJG-23-23-32) （JXJG-23-23-32）
江西省2024年大学生创新训练计划项目(S202414437018) （S202414437018）
南昌师范学院2023年学生科研创新项目(23XSKY84) （23XSKY84）
