Research On Solar Tracking And Adjusting Device Based On Machine Vision

Photovoltaic power generation has a high research value because of its advantages of no pollution and no regional constraints.Taking the solar tracking and regulating mechanism as the background,focusing on the design of photovoltaic power generation device as the main line,five aspects of mechanism selection and design,kinematics solution,camera calibration,visual algorithm compilation,and simulation platform construction were carried out.Firstly,the advantages of using parallel mechanism to make solar tracking device are described,and a new solar tracking device based on 2UU&UPU parallel mechanism is proposed.The degree of freedom of the device is solved by screw theory,the workspace is analyzed,and the influence curve of mechanism parameters on the workspace is studied.Considering the configuration of the universal joint pair,the rectangle is selected as the configuration of the U-joint.The kinematics model of the solar tracking and regulating device is established.The inverse kinematics formula is derived by vector method,and the forward kinematics is solved by numerical analysis method.The concept of camera external additive distortion model is extended,and the calibration method is selected.Through the analysis of calibration accuracy,the number of calibration images is determined.The internal parameter matrix K and distortion coefficient k₁ and k₂ are obtained,which eliminates the camera distortion.The visual algorithm of the solar tracking and regulating device is compiled by using the openmv platform.By comparing four mainstream tracking algorithms,the threshold detection method is adopted.On this basis,the threshold detection algorithm is improved,and an adaptive threshold detection algorithm is proposed.Finally,the three-dimensional model of the sun tracking and adjusting device is drawn based on SolidWorks software,and the PID control system of the mechanism is designed by using SolidWorks-SimMechanics toolbox.By adding driving function for simulation analysis,it is verified that the motion error of the device can meet the requirements of solar tracking.Figure 68;Table 9;Reference 71...