This paper proposes a vision orientation system based on OpenCV to solve the orientation problem that glass curtain wall cleaning robots meet with at work. The system applies edge detection and the Hough transform to the images captured by the monocular camera, then judges whether the robot has reached glass edges according to the results of histogram comparison between the target image and the template image. Finally the system sends corresponding orders to the robot for path selection and orientation.
With the development of the power system, wind energy was applied to micro-grid system as a distributed generation. The output of the wind farms has the characteristic of intermittence and fluctuation, which would influent the stability of micro-grid system and can be solved effectively by compressed air energy storage system, a new energy storage technology. Because of the advantage of fast response, high economic performance and small environmental impacts, it has an extensive application prospect. This paper builds a micro-grid system with wind power generator, and control the output of micro-grid system by using compressed air energy storage system. The simulation result verifies that the compressed-air energy storage system can effectively suppress power fluctuation and improving the stability of the micro-grid system.
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