Self-adaptive target ROI positioning method for solar panel cleaning robot

A solar panel and cleaning robot technology, which is applied to instruments, computer parts, image data processing, etc., can solve the problems of bulky radar, unsuitable for solar panels, complex structure, etc.

Active Publication Date: 2020-05-12
FUDAN UNIV
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Problems solved by technology

This type of solution has high reliability and mature technology, but its cost is high (for example, the price of lidar ranges from tens of thousands to hundreds of thousands), and the structure is complex, the installation requirements are high, and some radars are heavy and unsuitable for materials. special solar panel

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  • Self-adaptive target ROI positioning method for solar panel cleaning robot
  • Self-adaptive target ROI positioning method for solar panel cleaning robot
  • Self-adaptive target ROI positioning method for solar panel cleaning robot

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Embodiment Construction

[0052] In order to make the object, technical solution and advantages of the present invention clearer, the following is the specific implementation process, and with reference to the accompanying drawings, the present invention will be further described in detail.

[0053] attached figure 1 is a schematic diagram of the embodiment. First, subgraph A is t 1 The image collected by the camera at all times is scanned by the target detection algorithm and screened to obtain the position of the target; t 2 Collect the second frame of image at any time, use the results in the first frame of image in sub-picture B to estimate the possible position of the target; in sub-picture C, calculate the motion state of the robot, perform image motion estimation and compensation, and correct position in submap B. Finally, the target detection algorithm is called in the corrected area to track the target, as shown in sub-figure D.

[0054] The first step is to use the target detection algor...

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Abstract

The invention belongs to the technical field of machine vision image processing, and particularly relates to a self-adaptive ROI target positioning method for a solar panel cleaning robot. According to the invention, the characteristic of limited position change of a target in two frames of images is utilized, and the detection result of the previous frame is fused with the sensor motion information to compensate the target position change; the possible region of interest of the target in the current image is estimated, the detection range is reduced, interference caused by large calculation amount of the whole image scanning target and a useless background region is avoided, the method focuses on an effective region, and the target can be efficiently and accurately detected in real time.According to the invention, the problems of large operand, poor real-time performance, much interference, easy target loss and the like caused by wide detection range, complex background and motion change of the cleaning robot on the solar panel are solved, the detection efficiency and stability of the cleaning robot are greatly improved, and the cleaning robot can quickly, efficiently and accurately complete the full-automatic cleaning work of the solar panel.

Description

technical field [0001] The invention belongs to the technical field of machine vision image processing, and in particular relates to a method for self-adaptive positioning of a target ROI by a solar panel cleaning robot. Background technique [0002] In today's society, with the rapid development of science and technology and economy, and the continuous advancement of industrial processes, the world's demand for energy continues to increase. Energy issues have become a problem that every country is concerned about and eager to solve. Solar energy has the advantages of high efficiency, environmental protection, and low cost. It has developed rapidly in recent years and has been widely used. Since the photovoltaic power generation system is exposed to the outdoors for a long time, the dust and foreign matter accumulated on the solar panel will greatly reduce the transmittance of sunlight, resulting in a decrease in power generation efficiency. Regular dust removal and cleaning...

Claims

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Application Information

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IPC IPC(8): G06K9/32G06T7/20G01C21/34
CPCG06T7/20G01C21/3476G06V10/25Y02E10/50
Inventor 杨大卫张文强张传法李馨蕾陶玮
Owner FUDAN UNIV
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