Photovoltaic panel installation method

Abstract

The present application provides a photovoltaic panel paving method for moving a photovoltaic panel to a paving position on a photovoltaic bracket, the photovoltaic panel paving method comprising: obtaining position parameters of the paving position; grabbing the photovoltaic panel and moving the photovoltaic panel to above the paving position according to the position parameters; detecting the position deviation between the photovoltaic panel and the paving position; correcting the posture of the photovoltaic panel according to the position deviation until the photovoltaic panel is aligned with the paving position; moving the photovoltaic panel to the paving position, and releasing the photovoltaic panel. The present application realizes the automation of the entire photovoltaic panel paving process, avoids the photovoltaic panel paving system and the staff working in the same area, reduces manual intervention in the paving process, reduces safety hazards and improves paving efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic panel installation, and in particular to a photovoltaic panel installation method. Background Art

[0002] Photovoltaic panels are solar panels that can convert light energy into electrical energy. Photovoltaic panels are usually installed on photovoltaic brackets, and when installing, the optimal tilt angle needs to be calculated according to the latitude of the installation site, and the photovoltaic panels are installed in the appropriate position through the bracket to maximize the conversion of light energy into electrical energy.

[0003] Currently, photovoltaic panels are laid by moving equipment and manually connecting and installing the panels, which requires both labor and equipment to operate in the same area, resulting in safety risks and low efficiency in the laying process of photovoltaic panels. Summary of the invention

[0004] The present application provides a photovoltaic panel installation method that is beneficial to reducing potential safety hazards.

[0005] In a first aspect, an embodiment of the present application provides a photovoltaic panel paving method for moving a photovoltaic panel to a paving position on a photovoltaic bracket, the photovoltaic panel paving method comprising:

[0006] Get the position parameters of the paving position;

[0007] Grab the photovoltaic panel and move the photovoltaic panel to above the paving position according to the position parameters;

[0008] Detecting a position deviation between the photovoltaic panel and the paving position;

[0009] Correcting the posture of the photovoltaic panel according to the position deviation until the photovoltaic panel is aligned with the paving position;

[0010] Move the photovoltaic panel to the paving position, and release the photovoltaic panel.

[0011] According to the first aspect, in a possible implementation manner, the position parameters include position coordinates and a preset pitch angle;

[0012] Grasping the photovoltaic panel and moving the photovoltaic panel to above the paving position according to the position parameter includes:

[0013] Grab the photovoltaic panel and move the photovoltaic panel to a first position according to the position coordinates, wherein the first position is located above the paving position;

[0014] The photovoltaic panel is rotated to a second position according to the preset pitch angle.

[0015] According to the first aspect, in a possible implementation manner, obtaining the position parameter of the paving position includes:

[0016] Taking a photo of the photovoltaic bracket to form an initial image;

[0017] Processing the initial image and identifying the target object;

[0018] The position coordinates of the next paving position are determined based on the target object.

[0019] According to the first aspect, in a possible implementation manner, the target object is a purlin on a photovoltaic support or an edge of a previously installed photovoltaic panel.

[0020] According to the first aspect, in a possible implementation manner, when the photovoltaic panel is located at the first position, a minimum vertical distance H0 between the photovoltaic panel and the photovoltaic support satisfies: 10 cm ≤ H0 ≤ 30 cm.

[0021] According to the first aspect, in a possible implementation manner, detecting a position deviation between the photovoltaic panel and the paving position includes:

[0022] The horizontal distance La and the height difference H between at least two measuring points on the edge of the photovoltaic panel and the corresponding edge of the paving position are obtained.

[0023] According to the first aspect, in a possible implementation manner, correcting the posture of the photovoltaic panel according to the position deviation until the photovoltaic panel is aligned with the paving position includes:

[0024] Calculate the horizontal displacement A and the first angle deviation α according to the horizontal distance La; calculate the second angle deviation β according to the height difference H;

[0025] The posture of the photovoltaic panel is corrected according to the horizontal displacement A, the first angle deviation α and the second angle deviation β so that the photovoltaic panel is aligned with the paving position.

[0026] According to the first aspect, in a possible implementation manner, the height difference H includes a first height difference H1 at a first point and a second height difference H2 at a second point, and the first point and the second point are two measurement points located at an edge of the photovoltaic panel;

[0027] The step of correcting the posture of the photovoltaic panel according to the position deviation until the photovoltaic panel is aligned with the paving position comprises:

[0028] determining a tilt direction of the photovoltaic panel according to the first height difference H1 and the second height difference H2;

[0029] Rotating the photovoltaic panel along the tilt direction;

[0030] When the difference between the third height difference H1' and the fourth height difference H2' measured after adjustment is less than the preset error, the horizontal displacement A and the first angle deviation α are calculated according to the horizontal distance La;

[0031] The posture of the photovoltaic panel is corrected according to the horizontal displacement A and the first angle deviation α so that the photovoltaic panel is aligned with the paving position.

[0032] According to the first aspect, in a possible implementation, Lb of an edge of the photovoltaic panel and an edge of a previously installed photovoltaic panel is obtained;

[0033] The photovoltaic panel is moved to the installation position by a horizontal moving distance S=A+L0≤Lb.

[0034] According to the first aspect, in a possible implementation manner, moving the photovoltaic panel to the paving position and loosening the photovoltaic panel includes:

[0035] Moving the photovoltaic panel in a vertical direction to approach the paving position, and monitoring in real time the elastic force of an elastic member on a gripping assembly for gripping the photovoltaic panel;

[0036] When the elastic force of the elastic member is within a preset range, the photovoltaic panel is released.

[0037] The photovoltaic panel paving method provided in the present application obtains the position parameters of the paving position, grabs the photovoltaic panel and moves the photovoltaic panel to the top of the paving position according to the position parameters, realizes the first posture adjustment of the photovoltaic panel, which is equivalent to rough adjustment; detects the position deviation between the photovoltaic panel and the paving position, and corrects the posture of the photovoltaic panel according to the position deviation until the photovoltaic panel is aligned with the paving position; realizes the second posture adjustment of the photovoltaic panel, which is equivalent to fine-tuning. By performing two posture adjustments before moving the photovoltaic panel to the paving position, the installation accuracy of the photovoltaic panel is significantly improved, ensuring that the deviation between it and the paving position is within the allowable range, and reducing the problem of photovoltaic panel emptying or collision caused by position error. And realize the automation of the whole process of photovoltaic panel paving, avoid the photovoltaic panel paving system and the staff working in the same area, reduce manual intervention in the paving process, reduce safety hazards and improve paving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 It is a schematic diagram of the process of the photovoltaic panel installation method in the first embodiment of the present application;

[0040] Figure 2 is a schematic diagram of the process of the photovoltaic panel installation method in the second embodiment of the present application;

[0041] Figure 3 is a schematic flow chart of a photovoltaic panel installation method in the third embodiment of the present application;

[0042] Figure 4 is a schematic diagram of the process of the photovoltaic panel installation method in the fourth embodiment of the present application;

[0043] Figure 5 is a schematic flow chart of a photovoltaic panel installation method in the fifth embodiment of the present application;

[0044] Figure 6 It is a flow chart of the photovoltaic panel installation method in the sixth embodiment of the present application. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0047] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0048] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0049] The present application provides a photovoltaic panel paving system, which includes a paving device and a photovoltaic bracket. The paving device is used to move the photovoltaic panel to the paving position on the photovoltaic bracket, and can adjust the posture of the photovoltaic panel. There is a paving position on the photovoltaic bracket, and the photovoltaic bracket may include a beam and a purlin fixed on the beam. The paving position may be a virtual area division. For example, the paving position may refer to the area between two purlins on the photovoltaic bracket. When the photovoltaic panel is placed on the photovoltaic bracket, the two sides of the photovoltaic panel are overlapped on the purlins on both sides. The purlins may have a certain pitch angle, and the photovoltaic panel also has a certain pitch angle when installed on the purlin, so that the photovoltaic panel is installed in a suitable position to maximize the conversion of light energy to electrical energy.

[0050] The present application also provides a photovoltaic panel paving method for moving the photovoltaic panel to a paving position on a photovoltaic bracket. The photovoltaic panel paving method can be applied to the above-mentioned photovoltaic panel paving system. Figure 1 As shown, in the first embodiment, the photovoltaic panel paving method includes:

[0051] Step S10, obtaining position parameters of the paving position;

[0052] Position parameters include position coordinates, such as X and Y coordinates, which are used to locate the horizontal position of the photovoltaic panel on the photovoltaic bracket; and preset pitch angles, that is, the angle at which the photovoltaic panel needs to be tilted to maximize the photoelectric conversion efficiency. The specific position and angle at which the photovoltaic panel needs to be paved are determined by obtaining the position parameters of the paving position.

[0053] The paving positions on the photovoltaic bracket will be arranged according to certain layout rules, such as row and column arrangement; therefore, the row direction can be used as the X direction and the column direction as the Y direction, so that each paving position can be identified by specific X and Y coordinates.

[0054] In practical applications, the position parameters may be determined through measurements, design drawings, or preset bracket layout information.

[0055] Step S20, grabbing the photovoltaic panel and moving the photovoltaic panel to above the paving position according to the position parameters;

[0056] The paving equipment may include a gripping assembly that grabs the photovoltaic panel from a storage location or a conveyor belt and keeps it stable and does not fall off during the movement. The gripping assembly can grab the photovoltaic panel by means of a clamp, a vacuum suction cup, etc., which is not limited in this application.

[0057] After determining the position parameters of the paving position, the control system of the paving equipment will issue a command to drive the grabbing mechanism to move above the photovoltaic panel. After grabbing the photovoltaic panel, the paving equipment will start its moving mechanism, such as a multi-axis robot, guide rails, etc., and move the photovoltaic panel horizontally to the top of the paving position according to the X and Y coordinate information in the position parameters. In this process, the paving equipment needs to maintain stable operation to prevent the photovoltaic panel from shaking or falling off during movement.

[0058] In the process of grabbing and moving the photovoltaic panel, it is necessary to ensure that the contact surface between the grabbing mechanism and the photovoltaic panel is clean and free of foreign matter to avoid scratching or contaminating the surface of the photovoltaic panel.

[0059] Step S30, detecting a position deviation between the photovoltaic panel and the paving position;

[0060] By using sensors on the paving equipment, such as laser rangefinders, cameras, etc., the various deviation parameters between the edge of the photovoltaic panel and the edge of the paving position can be accurately measured, including horizontal distance deviation, height difference deviation and possible angle deviation. The angle deviation includes the first angle deviation in the horizontal direction, namely the yaw angle deviation; and the second angle deviation in the vertical direction, namely the pitch angle deviation.

[0061] When measuring deviation, it is necessary to ensure that there is no obstruction between the sensor and the photovoltaic panel and the paving location to ensure the accuracy of the measurement results.

[0062] Step S40, correcting the posture of the photovoltaic panel according to the position deviation until the photovoltaic panel is aligned with the paving position;

[0063] The control system of the paving equipment first receives and analyzes the deviation data, including horizontal distance deviation, height difference deviation and angle deviation.

[0064] If there is a deviation in the horizontal distance, the control system will drive the mobile mechanism of the paving equipment to make fine adjustments in the horizontal direction, by gradually adjusting the position of the photovoltaic panel until the horizontal distance between its edge and the edge of the paving position reaches the preset allowable range.

[0065] If an angle deviation is detected between the photovoltaic panel and the paving position, the control system will start the rotating mechanism (such as rotating motor, gear transmission, etc.) to adjust the tilt angle of the photovoltaic panel. The angle deviation is eliminated by gradually adjusting until the tilt angle of the photovoltaic panel matches the preset pitch angle.

[0066] After the initial calibration is completed, the paving equipment can use the high-precision sensor again to detect the position deviation between the photovoltaic panel and the paving position. If the deviation is still outside the allowable range, the above calibration process is repeated until the requirements are met.

[0067] Step S50, moving the photovoltaic panel to the paving position, and releasing the photovoltaic panel.

[0068] When the photovoltaic panel reaches the top of the paving position and the horizontal position is completely aligned, the paving equipment will start to move the photovoltaic panel in the vertical direction. During the vertical movement, the paving equipment will control the photovoltaic panel to gradually approach the purlin of the photovoltaic bracket at a stable speed to prevent the photovoltaic panel from being damaged by excessive impact when contacting the purlin.

[0069] This application realizes the automation of the entire process of photovoltaic panel installation, avoids the photovoltaic panel installation system and staff working in the same area, reduces manual intervention in the installation process, reduces safety hazards and improves installation efficiency.

[0070] In addition, the position parameters of the paving position are obtained, the photovoltaic panel is grabbed and moved to the top of the paving position according to the position parameters, so as to achieve the first posture adjustment of the photovoltaic panel, which is equivalent to rough adjustment; the position deviation between the photovoltaic panel and the paving position is detected, and the posture of the photovoltaic panel is corrected according to the position deviation until the photovoltaic panel is aligned with the paving position; and the second posture adjustment of the photovoltaic panel is achieved, which is equivalent to fine adjustment. By performing two posture adjustments before moving the photovoltaic panel to the paving position, the installation accuracy of the photovoltaic panel is significantly improved, ensuring that the deviation between it and the paving position is within the allowable range, and reducing the problem of photovoltaic panel emptying or collision caused by position error.

[0071] like Figure 2 As shown, in the second embodiment, step S50 includes:

[0072] Step S51, moving the photovoltaic panel in a vertical direction to approach the paving position, and monitoring in real time the elastic force of the elastic member on the grabbing assembly for grabbing the photovoltaic panel;

[0073] The grabbing assembly of the photovoltaic panel paving system moves the photovoltaic panel in the vertical direction so that the photovoltaic panel gradually approaches the predetermined paving position, that is, the purlin of the photovoltaic support.

[0074] The gripping assembly of the photovoltaic panel paving system may have an elastic member that can absorb the force and act as a buffer. During the movement of the photovoltaic panel, the system monitors the elastic force changes of the elastic member in real time through sensors installed on the gripping assembly. These sensors can capture the elastic force fluctuations caused by factors such as the weight of the photovoltaic panel, the moving speed, the flatness of the paving position, and the support strength.

[0075] The preset range is set in advance based on the physical characteristics of the photovoltaic panels (such as weight, material, size) and the specific requirements of the paving location (such as flatness, support strength), etc. This range is designed to ensure that the photovoltaic panels will not be damaged due to excessive impact during placement, nor will they be offset or tilted due to insufficient support.

[0076] The sensor may be a pressure sensor, a displacement sensor, or a combination of multiple sensors to comprehensively determine the state of the elastic force.

[0077] Step S52: when the elastic force of the elastic member is within a preset range, release the photovoltaic panel.

[0078] When the system detects that the elastic force value is stably within the preset range, it will determine that the photovoltaic panel has been stably overlapped on the purlin. At this time, the system controls the gripping component to perform a loosening operation and smoothly release the photovoltaic panel. This improves the stability and accuracy of the photovoltaic panel during final placement and reduces vibration or displacement caused by sudden release.

[0079] like Figure 3 As shown, in the third embodiment, the position parameters include position coordinates and a preset pitch angle; step S50 includes:

[0080] Step S21, grabbing the photovoltaic panel and moving the photovoltaic panel to a first position according to the position coordinates, wherein the first position is located above the paving position;

[0081] According to the preset position coordinates, the system controls the grabbing component to move the photovoltaic panel along the specified path and move it to a preliminary positioning position - the first position. The first position is above the paving position and maintains a certain vertical distance H0 to ensure sufficient space for subsequent operations.

[0082] Specifically, the photovoltaic panel is first moved to a position at the same height as the first position, and then the photovoltaic panel is translated to the first position. The action of the grabbing component is simplified, which is conducive to determining the boundaries of the photovoltaic panel in various states, thereby facilitating the translation path of the trajectory to avoid obstacles.

[0083] In the first position, the minimum vertical distance H0 between the photovoltaic panel and the photovoltaic bracket (such as the purlin of the photovoltaic bracket) should meet 10cm≤H0≤30cm. That is, there is still a certain distance between the lowest point of the photovoltaic panel and the highest point of the photovoltaic bracket, providing enough space for the rotation of the photovoltaic panel to avoid collision or interference between the photovoltaic panel and the photovoltaic bracket. At the same time, the maximum height of the photovoltaic panel is limited, and the selection of the height range avoids the increase of operation difficulty and risk due to excessive distance.

[0084] Step S22: rotating the photovoltaic panel to a second position according to the preset pitch angle.

[0085] The gripping assembly usually has multiple degrees of freedom and can move and rotate the photovoltaic panel in multiple directions. After the photovoltaic panel is in the first position, the system controls the gripping assembly to rotate the photovoltaic panel according to a preset pitch angle until it reaches the desired second position.

[0086] The reference for the rotation of the photovoltaic panel may be the edge of the photovoltaic panel corresponding to the high side of the mounting bracket, or may be the center position of the photovoltaic panel, which is not limited in the present application.

[0087] In this embodiment, the photovoltaic panel is moved in steps by taking the photovoltaic panel, translating the photovoltaic panel to the first position, and rotating the pitch angle of the photovoltaic panel, thereby avoiding simultaneous translation and rotation movements, making the operation in each stage more precise and controllable, and helping to reduce errors and safety issues caused by improper operation.

[0088] like Figure 4 As shown, in the fourth embodiment, step S10 includes:

[0089] Step S11, taking a photo of the photovoltaic bracket to form an initial image;

[0090] A camera is fixed on the gripping assembly, and the camera can move with the gripping assembly, so that the camera can be directly aimed at the target area on the photovoltaic bracket without the need for additional adjustment or positioning equipment.

[0091] The shooting operation occurs after placing the previous photovoltaic panel and before grabbing the next photovoltaic panel.

[0092] To ensure the accuracy and efficiency of subsequent image processing, the image quality should be maintained as much as possible during shooting. This includes ensuring sufficient lighting, avoiding shadows and reflections, and maintaining an appropriate distance between the camera and the subject. After shooting, the initial image needs to be saved to the storage media of a computer or mobile device for subsequent image processing and object recognition.

[0093] Step S12, processing the initial image and identifying the target object;

[0094] The initial image is processed by denoising, contrast enhancement, edge detection, etc. to improve the image quality and clarity to facilitate subsequent target identification.

[0095] After image preprocessing, image processing algorithms such as template matching, edge detection, shape recognition, etc. are usually used to search for specific features in the image and compare them with preset target features to identify the target object.

[0096] Step S13, determining the position coordinates of the next paving position based on the target object.

[0097] One or more reference points are selected on the identified target object. The selection of these reference points can be determined based on the size of the photovoltaic panel, the paving requirements and the specific shape of the target object.

[0098] Based on the identified target object, the position coordinates of the next photovoltaic panel paving position are calculated according to parameters such as the size of the photovoltaic panel, paving requirements, and the gap between adjacent photovoltaic panels.

[0099] The target object can be the purlin on the photovoltaic support, and the paving position is formed between two adjacent purlins, so that the edge of the purlin can be used as a reference. The target object can be the edge of the previous photovoltaic panel. According to the preset photovoltaic panel arrangement, a paving position consistent with the shape of the photovoltaic panel is formed on the blank side of the previous photovoltaic panel.

[0100] In this embodiment, photo recognition can obtain the position information of the target object in real time before each paving operation, eliminating the cumulative error formed in the process of the grabbing component moving the photovoltaic panel. Image processing technology and visual algorithms can provide high-precision target recognition and positioning, and provide high-precision position coordinate information, so that the grabbing component can more accurately adjust the posture of the photovoltaic panel when placing the photovoltaic panel in the predetermined position. Subsequent fine-tuning work will also be easier and faster, thereby improving the efficiency and quality of the entire paving process.

[0101] The detecting of the position deviation between the photovoltaic panel and the paving position includes: obtaining the horizontal distance La and the height difference H between at least two measuring points on the edge of the photovoltaic panel and the corresponding edge of the paving position. The photovoltaic panel paving system also includes a measuring component connected to the gripping component, the measuring component includes at least two measuring modules arranged at intervals, and the number of measuring modules corresponds to the number of measuring points. The measuring modules are arranged at intervals to cover multiple positions on the edge of the photovoltaic panel, so as to obtain more comprehensive measurement data.

[0102] The measuring module includes a driving unit and a distance measuring unit. The driving unit drives the distance measuring unit to move in the horizontal direction to obtain the edge position information of the photovoltaic panel and the edge position information of the paving position, and calculate the horizontal distance; the distance measuring unit is used to obtain the height difference between the edge of the photovoltaic panel and the edge of the paving position; the measurement point of the edge of the photovoltaic panel corresponds to the installation position of the measuring module. The driving unit is used as a driving element, one end of the driving unit is connected to the grabbing component, and the other end is connected to the distance measuring unit. The driving unit can drive the distance measuring unit to move in the horizontal direction according to the instructions of the controller, that is, drive the distance measuring unit to move in the direction close to the edge of the paving position. The distance measuring unit is installed at the moving end of the driving unit and is used to detect the vertical distance between the edge of the photovoltaic panel and the edge of the paving position, that is, the height difference. The distance measuring unit may use infrared distance measurement, laser distance measurement, ultrasonic distance measurement or other high-precision distance measurement technology to ensure the accuracy of the measurement result. At the same time, the actual distance information between the edge of the photovoltaic panel and the edge of the paving position can be obtained according to the travel of the driving unit when the distance measuring unit detects the edge of the photovoltaic panel and the edge of the paving position.

[0103] Among them, the driving unit may include linear driving parts such as electric cylinders, pneumatic cylinders, hydraulic cylinders, etc. The driving unit may also include a rotating motor and a transmission mechanism. The transmission mechanism may be a cam, connecting rod, gear rack, etc. that can convert rotation into linear motion. This application does not limit this.

[0104] Before starting the measurement, the driving unit and the distance measuring unit are in the initial state, that is, the moving end of the driving unit is located at the preset starting point, and the installation position of the distance measuring unit is the moving end of the driving unit. The controller sends an instruction to the driving unit to control the driving unit to move in the horizontal direction, usually in the direction close to the edge of the paving position. This instruction can include parameters such as the speed and acceleration of the movement to ensure the smoothness and accuracy of the movement process. During the movement of the driving unit, the controller will obtain the travel data of the driving unit in real time. The travel data represents the distance moved by the distance measuring unit from the initial position to the current position, that is, the actual moving distance in the horizontal direction. At the same time, the distance measuring unit is also detecting the distance to the surrounding objects in real time, and the detection direction of the distance measuring unit is perpendicular to the photovoltaic panel. When the distance measuring unit detects the edge of the paving position, the controller will receive a specific signal, such as the distance value output by the distance measuring unit suddenly changes or reaches a preset threshold. At this time, the controller can determine that the distance measuring unit has reached the edge of the paving position. In the case of detecting the edge of the paving position, the controller will record the travel of the driving unit at this time as the horizontal distance, and record the detection result of the distance measuring unit as the height difference.

[0105] It can be understood that when the driving unit and the distance measuring unit are both in the initial state, there may be a certain distance between the distance measuring unit and the edge of the photovoltaic panel.

[0106] In the first example, the distance measuring unit is located on the inner side of the edge of the photovoltaic panel, that is, the projection of the distance measuring unit along the vertical height direction is located on the photovoltaic panel. In the process of the driving unit driving the distance measuring unit to move, the distance measuring unit will first detect the edge of the photovoltaic panel, and then detect the edge of the paving position. Specifically, as the driving unit drives, the distance measuring unit starts to move and first detects the edge of the photovoltaic panel. At this time, the distance measuring unit will detect a sudden change in the distance value, and the controller receives this signal and records the stroke of the driving unit at this time; the driving unit continues to drive the distance measuring unit to move, and when the distance measuring unit detects the edge of the paving position, it will detect a sudden change in the distance value again, and the controller receives this signal and records the stroke of the driving unit at this time; therefore, the stroke difference of the driving unit corresponding to the two distance value mutation signals is the horizontal distance between the edge of the photovoltaic panel and the edge of the paving position. Since the horizontal distance is calculated based on the relative value of the driving unit stroke, the grasping component is allowed to have a slight error when grasping the photovoltaic panel.

[0107] In the second example, the distance measuring unit is located outside the edge of the photovoltaic panel, and the driving unit and the distance measuring unit are in the initial position. At this time, there is a known distance D between the distance measuring unit and the edge of the photovoltaic panel. The driving unit drives the distance measuring unit to move until the edge of the paving position is detected. In this process, the distance measuring unit will detect a sudden change in the distance value. The controller receives this signal and records the distance S of the driving unit at this time. The horizontal distance needs to be added to the measured value by the distance between the initial position of the distance measuring unit and the edge of the photovoltaic panel. That is, the horizontal distance = S + D. In this example, it is necessary to ensure that the position of the grasping component is consistent when grasping the photovoltaic panel, so that the distance D between the initial position of the distance measuring unit and the edge of the photovoltaic panel can approach a constant value, thereby improving the accuracy and reliability of the measurement.

[0108] The number of measurement modules may be 2, 3, 4 or even more, which is not limited in this application.

[0109] It is understandable that, due to the limited travel of the driving unit, before the measuring component detects the position deviation of the photovoltaic panel, it is firstly coarsely adjusted by photographing and identifying, so as to avoid the measurement reference, such as the edge of the purlin or the previous photovoltaic panel, being outside the travel of the driving unit, thereby improving the effectiveness of the detection of the measuring component.

[0110] like Figure 5 As shown, in the fifth embodiment, step S40 includes:

[0111] Step S41, calculating a horizontal displacement A and a first angle deviation α according to the horizontal distance La; calculating a second angle deviation β according to the height difference H;

[0112] Each measuring module (measuring point) measures a horizontal distance La and a height difference H. The grouped horizontal distance La and height difference H can be substituted into the corresponding calculation formula to calculate the horizontal displacement A, the first angle deviation α and the second angle deviation β.

[0113] Establish a three-dimensional coordinate system, where the X-axis represents the horizontal direction, the Y-axis represents the edge direction of the photovoltaic panel, and the Z-axis represents the vertical direction. Taking the edge of the photovoltaic panel as the Y-axis reference line, the position of each measurement point is used as the Y coordinate. For each measurement point, the horizontal distance measured by the corresponding measurement module is used as the X coordinate, and the measured height difference is used as the Z coordinate. In this way, we can generate a scatter point for each measurement point in three-dimensional space. Using the least squares method or other suitable fitting methods, fit the generated scatter points. The first angle deviation α can be obtained by calculating the angle between the fitting line and the Y-axis reference line in the XY plane. This can be achieved by calculating the dot product of the direction vector of the fitting line and the direction vector of the Y-axis, and then applying the arctangent function. The second angle deviation β can be obtained by calculating the angle between the fitting line and the Y-axis reference line in the YZ plane. This can also be obtained by calculating the dot product of the direction vectors and the arctangent function. When calculating the horizontal displacement A, find the rotation center of the photovoltaic panel, which is the rotation center of the grasping component, and the position of the rotation center is relatively fixed with respect to the position of the measurement point. Calculate the shortest distance between the projection of the rotation center on the Y-axis reference line and the fitting line.

[0114] Step S42: Correct the attitude of the photovoltaic panel according to the horizontal displacement A, the first angle deviation α, and the second angle deviation β so that the photovoltaic panel is aligned with the paving position.

[0115] Through the above steps, precise correction of the attitude of the photovoltaic panel can be achieved, ensuring its alignment accuracy with the paving position, thereby improving the installation quality and power generation efficiency.

[0116] The height difference H includes the first height difference H1 of the first point and the second height difference H2 of the second point, and the first point and the second point are two measurement points located at the edge of the photovoltaic panel; as Figure 6 shown, in the sixth embodiment, step S40 includes:

[0117] Step S43: Determine the inclination direction of the photovoltaic panel according to the first height difference H1 and the second height difference H2;

[0118] By comparing the magnitudes of the first height difference H1 and the second height difference H2, it is possible to determine in which direction the photovoltaic panel is inclined. For example, if H1 > H2, the photovoltaic panel may be inclined towards the side where the first point is located; conversely, if H1 < H2, it is inclined towards the side where the second point is located.

[0119] Step S44: Rotate the photovoltaic panel along the inclination direction;

[0120] According to the tilt direction determined in step S43, the gripping assembly rotates the photovoltaic panel in that direction to reduce or eliminate the tilt. The amplitude of the rotation should be carried out step by step, and the height difference should be measured in real time to monitor the adjustment effect.

[0121] Step S45, when the difference between the third height difference H1' and the fourth height difference H2' measured after adjustment is less than a preset error, calculating the horizontal displacement A and the first angle deviation α according to the horizontal distance La;

[0122] After rotating the photovoltaic panel, re-measure the third height difference H1' and the fourth height difference H2' between the first point and the second point. Calculate the difference between H1' and H2' and compare it with the preset error range. If the difference is less than the preset error, it is considered that the height difference adjustment has met the requirements and the next step of horizontal displacement and angle correction can be entered; if the difference is still greater than the preset error, it may be necessary to continue to adjust the tilt direction or amplitude of the photovoltaic panel.

[0123] Step S46, correcting the posture of the photovoltaic panel according to the horizontal displacement A and the first angle deviation α so that the photovoltaic panel is aligned with the paving position.

[0124] After the height difference is adjusted to meet the requirements, the horizontal displacement A of the photovoltaic panel is calculated based on the measured horizontal distance La. At the same time, the first angle deviation α is calculated based on the comparison between the current orientation of the photovoltaic panel and the target orientation. The grabbing component moves the photovoltaic panel horizontally by a distance of A and rotates it by an angle of α to align it precisely with the paving position.

[0125] In this embodiment, the pitch angle of the photovoltaic panel is adjusted first, and the horizontal adjustment is performed after the photovoltaic panel and the paving position are parallel in the vertical direction. At this time, since the photovoltaic panel is roughly parallel to the paving position, the calculation of the horizontal displacement A and the angle deviation α will be more accurate and efficient. In addition, since the vertical alignment has been basically completed, the adjustment of the horizontal posture can focus more on the precise alignment in the horizontal direction without considering too much about the changes in the vertical direction.

[0126] And the pitch angle and horizontal attitude are decoupled, making the calculation of each stage more independent and simpler.

[0127] Based on the third and fourth embodiments described above, the photovoltaic panel paving method further includes: obtaining the Lb of the edge of the photovoltaic panel and the edge of the previous photovoltaic panel that has been paved; moving the photovoltaic panel to the paving position by a horizontal movement distance S=A+L0≤Lb. This embodiment uses the purlins on the photovoltaic bracket as a reference, and calculates the horizontal movement distance S required to move the photovoltaic panel to the paving position based on the horizontal displacement A calculated in the previous step and the preset gap L0. S should satisfy S=A+L0, and S should be less than or equal to Lb to ensure that the photovoltaic panels do not overlap with each other or leave too large a gap.

[0128] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0129] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A method for paving a photovoltaic panel, characterized in that: Used to move the photovoltaic panel to a paving position on the photovoltaic bracket, the paving method of the photovoltaic panel includes: Get the position parameters of the paving position; Grab the photovoltaic panel and move the photovoltaic panel to above the paving position according to the position parameters; Detecting a position deviation between the photovoltaic panel and the paving position; Correcting the posture of the photovoltaic panel according to the position deviation until the photovoltaic panel is aligned with the paving position; Moving the photovoltaic panel to the paving position, and loosening the photovoltaic panel; The detecting of the position deviation between the photovoltaic panel and the paving position comprises: Obtaining a horizontal distance La and a height difference H between at least two measuring points on the edge of the photovoltaic panel and a corresponding edge of the paving position; The method for obtaining the horizontal distance La and the height difference H includes: controlling the driving unit to move in the horizontal direction, obtaining the travel data of the driving unit, and when the distance measuring unit detects the edge of the paving position, recording the travel of the driving unit as the horizontal distance La, and recording the detection result of the distance measuring unit as the height difference H, wherein before starting the measurement, the driving unit and the distance measuring unit are in the initial position, the installation position of the distance measuring unit is the moving end of the driving unit, and the travel data represents the distance moved by the distance measuring unit from the initial position to the current position; The step of correcting the posture of the photovoltaic panel according to the position deviation until the photovoltaic panel is aligned with the paving position comprises: Calculate the horizontal displacement A and the first angle deviation α according to the horizontal distance La; calculate the second angle deviation β according to the height difference H; Correcting the posture of the photovoltaic panel according to the horizontal displacement A, the first angle deviation α, and the second angle deviation β so that the photovoltaic panel is aligned with the paving position; The first angle deviation α is a yaw angle deviation in the horizontal direction, and the second angle deviation β is a pitch angle deviation in the vertical direction.

2. The photovoltaic panel paving method according to claim 1, characterized in that: The position parameters include position coordinates and a preset pitch angle; Grasping the photovoltaic panel and moving the photovoltaic panel to above the paving position according to the position parameter includes: Grab the photovoltaic panel and move the photovoltaic panel to a first position according to the position coordinates, wherein the first position is located above the paving position; The photovoltaic panel is rotated to a second position according to the preset pitch angle.

3. The photovoltaic panel paving method according to claim 2, characterized in that: The position parameters for obtaining the paving position include: Taking a photo of the photovoltaic bracket to form an initial image; Processing the initial image and identifying the target object; The position coordinates of the next paving position are determined based on the target object.

4. The photovoltaic panel paving method according to claim 3, characterized in that: The target object is a purlin on a photovoltaic support or an edge of a previously installed photovoltaic panel.

5. The photovoltaic panel paving method according to claim 2, characterized in that: When the photovoltaic panel is located at the first position, a minimum vertical distance H0 between the photovoltaic panel and the photovoltaic support satisfies: 10 cm ≤ H0 ≤ 30 cm.

6. The photovoltaic panel paving method according to claim 1, characterized in that: The height difference H includes a first height difference H1 at a first point and a second height difference H2 at a second point, wherein the first point and the second point are two measuring points located at the edge of the photovoltaic panel; The step of correcting the posture of the photovoltaic panel according to the position deviation until the photovoltaic panel is aligned with the paving position comprises: determining a tilt direction of the photovoltaic panel according to the first height difference H1 and the second height difference H2; Rotating the photovoltaic panel along the tilt direction; When the difference between the third height difference H1' and the fourth height difference H2' measured after adjustment is less than the preset error, the horizontal displacement A and the first angle deviation α are calculated according to the horizontal distance La; The posture of the photovoltaic panel is corrected according to the horizontal displacement A and the first angle deviation α so that the photovoltaic panel is aligned with the paving position.

7. The photovoltaic panel paving method according to claim 1 or 6, characterized in that: Also includes: Obtain a horizontal distance Lb between the edge of the photovoltaic panel and the edge of the previous photovoltaic panel that has been installed; The photovoltaic panel is moved to the paving position by a horizontal moving distance S=A+L0≤Lb, wherein L0 is a preset horizontal gap distance.

8. The photovoltaic panel paving method according to claim 1, characterized in that: The step of moving the photovoltaic panel to the paving position and loosening the photovoltaic panel comprises: Moving the photovoltaic panel in a vertical direction to approach the paving position, and monitoring in real time the elastic force of an elastic member on a gripping assembly for gripping the photovoltaic panel; When the elastic force of the elastic member is within a preset range, the photovoltaic panel is released.

Images