Photovoltaic cell string positioning method based on robot

A photovoltaic cell and positioning method technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of different sizes and cannot meet the needs of flexible production, so as to improve production flexibility, solve the problem of inconsistency in size, and reduce the use of cost effect

Active Publication Date: 2021-06-29
上海埃奇机器人技术有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In actual production, there are many types of battery strings with different sizes. This solution cannot meet the needs of flexible production.

Method used

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  • Photovoltaic cell string positioning method based on robot
  • Photovoltaic cell string positioning method based on robot
  • Photovoltaic cell string positioning method based on robot

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Embodiment Construction

[0036] In order to make the techniques, creative features, objective and efficacy of the present invention, and is further illustrated below.

[0037] Such as Figure 1 to 5 As shown, a robot based photovoltaic battery string positioning method, the specific steps are as follows:

[0038] S1, build implementation platform: Construction implementation platform ensures that the camera one 3 and the camera two 4 acquire the diagonal position of the photovoltaic battery string 2, respectively;

[0039] S2, hand-eye calibration relationship: camera one 3 with robot 5's hand-eye calibration relationship is A 1 (R 1 , T 1 ), Camera two 4 and robot 5's hand-eye calibration relationship is A 2 (R 2 , T 2 );

[0040] S3, place a photovoltaic battery string 2 on the conveyor belt 1 and considered to be a standard photovoltaic battery string;

[0041] S4, angular point position: Corner position of the camera one 3 is c 0 (x 0 Y 0 ), The angular position of the camera two 4 is c 1 (x 1 Y 1 Acco...

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Abstract

The invention relates to the field of photovoltaic cell string positioning of a robot, in particular to a photovoltaic cell string positioning method base on the robot. The photovoltaic cell string positioning method comprises the following specific steps of: S1, building an implementation platform; S2, calibrating a relation between hands and eyes; S3, putting a photovoltaic cell string on a conveying belt, and regarding the photovoltaic cell string as a standard photovoltaic cell string; S4, determining an angular point position; S5, setting a standard grabbing pose; S6, calculating the grabbing pose of the robot according to the data in the step S5; S7, obtaining a deviation formula; S8, obtaining an angular point position formula. Compared with the prior art, the two opposite angles of the photovoltaic cell string correspond to the view field of a camera I and the view field of a camera II respectively, and any hardware facility and software parameters are not changed, so that the robot can position and grab the photovoltaic cell string, therefore the production flexibility is improved, and the problem of size inconsistency during photovoltaic production is solved.

Description

Technical field [0001] The present invention relates to the field of robotic photovoltaic cell string, which is specifically a robot based photovoltaic battery string positioning method. Background technique [0002] At present, in actual production, there are many types of battery skewers, and the size is different. It is necessary to position the photovoltaic battery string of the robot, such as the Chinese Patent Application No. 11,127553a discloses a multi-camera photovoltaic battery string positioning method, pass through The angular camera acquires the corner image of the photovoltaic battery string, and the long-positioned camera acquires an image of the photovoltaic battery string. Establish a robot reference coordinate system R and an angular camera reference coordinate system. Computational photovoltaic battery string standard typeset 3 (X 3 Y 3 , a 3 ) And the photovoltaic battery string position Cailed for long-position cameras c 4 (X 4 Y 4 , a 4 ), Then calculate the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/02B25J9/00B25J9/16
CPCB25J19/023B25J9/0081B25J9/1612
Inventor 马英易廷昊李祖云储昭琦
Owner 上海埃奇机器人技术有限公司
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