Real-time measurement and calibration system for installation process of photovoltaic power station

Abstract

The invention relates to the technical field of photovoltaic power station installation monitoring, in particular to a photovoltaic power station installation process real-time measurement and calibration system which comprises an installation data acquisition module, a positioning calibration module, an environment compensation module, an installation error analysis module and a dynamic adjustment module. Wherein the data acquisition module is used for acquiring three-dimensional coordinate data, inclination angle data and environmental parameters of the photovoltaic module; the positioning calibration module is used for constructing a component space topology network; the environment compensation module is used for outputting an environment compensation coefficient to correct the initial calibration parameter; and the installation error analysis module is used for calculating the three-dimensional coordinate deviation value and the inclination angle deviation value of each component. According to the invention, the three-dimensional coordinates and inclination angle data of the photovoltaic module are measured in real time, the installation error is corrected in combination with environmental compensation, and an automatic adjustment mechanism is utilized to drive the adjustment mechanism to accurately calibrate the position and angle of the module, so that the installation precision of the photovoltaic power station is improved, and the adaptability of the system to environmental change is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power station installation monitoring, and in particular to a real-time measurement and calibration system for a photovoltaic power station installation process. Background Art

[0002] As an important component of clean energy, the power generation efficiency of photovoltaic power stations is closely related to the installation accuracy of components. During the construction of photovoltaic power stations, the installation of photovoltaic components needs to meet strict positioning requirements to ensure the optimal matching of light angles. However, traditional photovoltaic component installation mainly relies on manual measurement and adjustment. The measurement method usually uses a total station or laser level to confirm the position, and then adjusts it manually. This method is not only inefficient and has large errors, but is also greatly affected by the operator's experience. In addition, environmental factors (such as thermal expansion of materials caused by temperature changes and component deformation caused by wind loads) will also have a significant impact on installation accuracy. The existing installation method cannot effectively consider these factors, resulting in accuracy deviations after installation, affecting the long-term stability and power generation efficiency of photovoltaic components.

[0003] The existing technology has the following main problems in the installation process of photovoltaic modules: First, there is a lack of efficient and automated measurement and calibration means, and it is impossible to obtain the precise three-dimensional coordinates and inclination data of photovoltaic modules in real time, which makes it difficult to control errors; second, it fails to fully consider the impact of environmental factors on the installation accuracy of photovoltaic modules, and the existing calibration method fails to establish an effective compensation mechanism, which may cause position offset or inclination error of the module after installation; third, the existing adjustment methods are mostly static adjustments, which fail to combine real-time measurement data for closed-loop control, resulting in the adjustment process relying on manual experience and unstable accuracy. Summary of the invention

[0004] Based on the above objectives, the present invention provides a real-time measurement and calibration system for the installation process of a photovoltaic power station.

[0005] The real-time measurement and calibration system for the photovoltaic power station installation process includes an installation data acquisition module, a positioning calibration module, an environmental compensation module, an installation error analysis module, and a dynamic adjustment module; among which: Install data acquisition module: synchronously obtain 3D coordinate data, inclination data and environmental parameters of photovoltaic modules through distributed measurement terminals; Positioning calibration module: receives the three-dimensional coordinate data and inclination data collected by the installation data acquisition module, builds the component space topology network based on the improved Delaunay triangulation algorithm, and generates initial calibration parameters based on the preset inclination threshold; Environmental compensation module: receives environmental parameters collected by the data acquisition module and establishes a thermal expansion-wind load coupling model to output environmental compensation coefficients to correct initial calibration parameters; Installation error analysis module: used to match the corrected calibration parameters with the BIM design benchmark model for point cloud matching, and calculate the three-dimensional coordinate deviation and inclination deviation of each component; Dynamic adjustment module: used to generate multi-degree-of-freedom robotic arm control instructions based on the three-dimensional coordinate deviation and inclination angle deviation to drive the adjustment mechanism to perform posture adjustment.

[0006] Optionally, the distributed measurement terminal includes a laser ranging unit, a MEMS gyroscope array and a temperature and humidity sensor; wherein: Laser ranging unit: The distance between the photovoltaic module and the ranging unit is calculated based on the principle of laser pulse emission and reception. The distance is calculated by measuring the time difference from the emission to the reception of the laser pulse and combining it with the speed of light. The three-dimensional coordinate data of the photovoltaic module is obtained through multiple measurements, and the error range does not exceed ±0.5mm. MEMS gyroscope array: used to measure the tilt angle of photovoltaic modules in real time. The MEMS gyroscope array uses the principle of micro-electromechanical systems and the Coriolis force generated by the rotating mass in the sensor when the rotation angle changes to calculate the angular deviation of the photovoltaic module relative to the reference plane. The output signal of the gyroscope is the angular velocity. After integration, the tilt angle data of the module is obtained, and the error range is controlled within ±0.1 degrees; Temperature and humidity sensor: used to measure the temperature and humidity of the environment where the photovoltaic modules are located, and output environmental data in real time by detecting changes in temperature and humidity in the environment.

[0007] Optionally, the positioning calibration module includes a triangulation construction unit, a tilt angle threshold comparison unit and an initial parameter generation unit; wherein: Triangulation construction unit: Based on the three-dimensional coordinate data provided by the installation data acquisition module, the spatial topological network of the photovoltaic module is constructed through the improved Delaunay triangulation algorithm. After receiving the coordinate point set of the photovoltaic module, the topological structure is constructed in the form of triangular units that do not overlap and cover all coordinate points; Inclination threshold comparison unit: receives the photovoltaic module inclination data provided by the installation data acquisition module and compares it with the preset inclination threshold to determine whether the module meets the installation accuracy requirements and records the location of the module whose inclination exceeds the threshold; Initial parameter generation unit: Based on the spatial topological data of the triangulation construction unit and the inclination deviation information of the inclination threshold comparison unit, the initial calibration parameters are generated by combining the weighted average and weighted interpolation algorithms.

[0008] Optionally, the triangulation construction unit includes: Preprocess the collected three-dimensional coordinate data, arrange the data points in order of their coordinates, and remove duplicate and abnormal data; The improved Delaunay triangulation algorithm is used to construct a preliminary topological network for the preprocessed coordinate data, and the radius of the circumscribed circle of any triangle ABC is calculated. , the formula is: ,in, Represents the length of the side formed by data point A and data point B; Represented by data points and data points The length of the side of the composition; Represented by data points The length of the side formed by the data point A; Represents a triangle area; Calculating triangles using Heron's formula Area , the formula is: ,in, represents the semiperimeter of triangle ABC; and Respectively represent the length of each side of the triangle; For each candidate triangle ABC, calculate the center of its circumscribed circle , and for any data point other than the one that forms triangle ABC Calculation Point With the center The Euclidean distance between , the formula is: ,in, Represents data points With the center The Euclidean distance between Represents data points Coordinates in a three-dimensional coordinate system; Respectively represent the center of the circle Coordinates in the three-dimensional coordinate system; candidate triangle ABC is only required for all data points All meet shall be retained; For each triangle that meets the retention criteria , calculate the average deviation of the three internal angles from the ideal angle of 60 degrees , the formula is: ,in, and They represent the three interior angles of triangle ABC respectively; is the ideal interior angle value; is the average absolute value of the three internal angle deviations; Finally, the expression is minimized according to the criterion , determine the basic units that constitute the topological network, where represents the comprehensive metric used to select the best triangle, Indicates a preset constant.

[0009] Optionally, the inclination threshold comparison unit includes: Obtaining the tilt angle data of photovoltaic modules: Obtaining the real-time tilt angle data of photovoltaic modules through the MEMS gyroscope array ,in Indicates The tilt angle data of each photovoltaic module, in degrees; Set the tilt threshold: preset the tilt threshold , represents the maximum allowable inclination deviation range, in degrees; Tilt comparison: Tilt data for each PV module With preset inclination threshold Compare them one by one to determine whether they meet the accuracy requirements. The judgment formula is: ,in, Indicates the ideal inclination angle of the photovoltaic module; if the formula is established, it means that the inclination angle of the module is within the allowable range and meets the installation accuracy requirements; otherwise, it means that the inclination angle deviation of the module exceeds the accuracy requirements; Record the position of the component whose tilt exceeds the threshold: If the tilt data of a photovoltaic component Exceeding the preset inclination threshold , the three-dimensional coordinates of the component are recorded as the component position where the inclination exceeds the threshold.

[0010] Optionally, the initial parameter generating unit includes: Obtaining spatial topological data and tilt deviation information: Obtaining spatial topological data of photovoltaic modules from triangulation construction units , and obtain the tilt angle deviation information of the photovoltaic module from the tilt angle threshold comparison unit ,in For photovoltaic modules The actual inclination angle, Indicates the ideal tilt angle of the photovoltaic module, For photovoltaic modules The inclination deviation; Calculate the weighted average: for all PV panels in space Deviation from its inclination Perform weighted averaging to generate initial calibration parameters; the weighted averaging calculation formula is: ; ; ,in, are the average values ​​of the three-dimensional coordinates of the initial calibration parameters, is the weight of each PV module, and is the tilt deviation The reciprocal of , that is: ,in, To prevent division by zero errors for small constants, Indicates the total number of PV panels; Perform weighted interpolation: For sparse distribution of three-dimensional coordinate data, a weighted interpolation algorithm is used to optimize the generation of initial calibration parameters. The weighted interpolation algorithm estimates the position of unknown points by using the data of surrounding neighborhood components. The interpolation formula is: ,in, represents the initial calibration parameters after interpolation calculation, It is the three-dimensional coordinate data of the neighborhood component.

[0011] Optionally, the environmental compensation module includes an environmental parameter receiving unit, a thermal expansion model unit, a wind load model unit, a thermal expansion-wind load coupling model unit and a compensation coefficient output unit; wherein: Environmental parameter receiving unit: used to receive environmental parameter data from the installed data acquisition module, including temperature, humidity and wind speed; Thermal expansion model unit: used to calculate the thermal expansion effect of photovoltaic modules based on temperature data. Assume that the thermal expansion of photovoltaic modules is , and its calculation formula is: ,in, is the length change of the PV module, is the original length of the PV module, is the thermal expansion coefficient of the photovoltaic module material, is the temperature change; Wind load model unit: Calculate the force of the photovoltaic module affected by the wind load based on the wind speed data. Assume that the wind load force is , whose expression is: ,in, is the aerodynamic drag coefficient, is the air density, is the windward area of ​​the PV module, is the wind speed data; Thermal expansion-wind load coupling model element: used to couple the thermal expansion effect of the thermal expansion model element Wind load forces for wind load model elements Couple and generate a comprehensive impact model, the expression is: ,in, represents the amount of environmental compensation, and is the adjustment coefficient; Compensation coefficient output unit: used to output the environmental compensation coefficient according to the calculation results of the thermal expansion-wind load coupling model , compensation coefficient Calculated by the following formula: ,in, represents the amount of environmental compensation, is the weight of each PV module, is the total number of PV panels.

[0012] Optionally, the environmental compensation module further includes a calibration parameter correction unit and a tilt angle correction unit; wherein: Calibration parameter correction unit: receiving environment compensation coefficient and initial calibration parameters , and apply the compensation coefficient to correct the position and inclination of the PV module to correct the calibration parameters. The formula is: ; ; ,in, is the corrected PV module coordinate, They are the thermal expansion corrections in the X, Y, and Z axis directions respectively; Tilt correction unit: for the tilt data of photovoltaic modules , using environmental compensation coefficient Correction of inclination deviation , the corrected inclination angle calculation formula is: ,in, is the corrected inclination angle, is the actual inclination angle, is the inclination deviation, is the environmental compensation coefficient.

[0013] Optionally, the installation error analysis module includes a data receiving unit, a BIM model registration unit, a point cloud matching unit and an error calculation unit; wherein: Data receiving unit: used to receive the corrected calibration parameters obtained from the environmental compensation module, including the three-dimensional coordinates and inclination angles of each photovoltaic module; and also receive the BIM design benchmark model data, including the three-dimensional coordinates of each photovoltaic module in the design and inclination ;in, Indicates the serial number of the photovoltaic module. Indicates the total number of PV panels; BIM model registration unit: used to register the data of the BIM design benchmark model with the corrected calibration parameters in the same coordinate system, and determine the rigid transformation matrix by solving the minimization problem , and its calculation formula is: ,in, Indicates The corrected coordinates, represents the norm of the Euclidean distance; is a rigid transformation matrix consisting of a rotation matrix and a displacement vector; Point cloud matching unit: The iterative closest point algorithm is used to match the corrected calibration parameter point cloud with the registered BIM design benchmark model point cloud. The matching relationship of each corresponding point is determined by minimizing the distance function. The expression is: ,in, Represents a rigid transformation The BIM model is The nearest corresponding point, the matching process gradually converges to the optimal corresponding relationship through iteration; Error calculation unit: Calculate the 3D coordinate deviation of each photovoltaic module based on the point cloud matching results And the inclination deviation .

[0014] Optionally, the dynamic adjustment module includes an error data receiving unit, a control instruction generating unit and a robot arm driving unit; wherein: Error data receiving unit: used to receive the three-dimensional coordinate deviation of each photovoltaic module from the installation error analysis module and inclination deviation ; Control instruction generating unit: used to establish a direct correspondence between the three-dimensional coordinate deviation and the inclination deviation of each photovoltaic module according to the deviation data provided by the error data receiving unit and in combination with the preset adjustment parameters, so as to determine the correction amount and angle adjustment amount of each module in each axis direction; and integrate each correction amount to form a control instruction; Robotic arm drive unit: used to receive the control instructions output by the control instruction generation unit and convert them into drive signals for the multi-degree-of-freedom robotic arm to drive the adjustment mechanism to perform corresponding posture adjustment operations.

[0015] Beneficial effects of the present invention: The present invention realizes high-precision installation of photovoltaic components through the coordinated work of an installation data acquisition module, a positioning calibration module, an environmental compensation module, an installation error analysis module and a dynamic adjustment module; the installation data acquisition module can obtain the three-dimensional coordinates, inclination angles and environmental parameters of the photovoltaic components in real time, and construct a spatial topological network of the components through an improved Delaunay triangulation algorithm, thereby providing an accurate structural basis for subsequent calibration; the environmental compensation module establishes a thermal expansion-wind load coupling model based on the collected environmental data, calculates the environmental compensation coefficient, and applies it to calibration parameter correction to compensate for component offset problems caused by temperature changes and wind loads; the installation error analysis module uses point cloud matching technology to compare the corrected calibration parameters with a BIM design benchmark model, accurately calculates the three-dimensional coordinate deviation and inclination deviation of the photovoltaic components, and provides reliable data support for subsequent dynamic adjustment.

[0016] The present invention generates control instructions for a multi-degree-of-freedom robotic arm through a dynamic adjustment module, and drives an adjustment mechanism to perform posture adjustment, thereby achieving high-precision calibration of photovoltaic components. Compared with traditional manual measurement and adjustment methods, the system of the present invention can monitor and correct component deviations in real time during the installation process, reduce human errors, and improve installation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of a real-time measurement and calibration system for the installation process according to an embodiment of the present invention; Figure 2 Schematic diagram of a positioning calibration module according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0020] It should be noted that the references to "one embodiment", "embodiment", "exemplary embodiments", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0021] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0022] like Figure 1-Figure 2 As shown, the real-time measurement and calibration system for the photovoltaic power station installation process includes an installation data acquisition module, a positioning calibration module, an environmental compensation module, an installation error analysis module and a dynamic adjustment module; wherein: Install data acquisition module: synchronously obtain 3D coordinate data, inclination data and environmental parameters of photovoltaic modules through distributed measurement terminals; Positioning calibration module: receives the three-dimensional coordinate data and inclination data collected by the installation data acquisition module, builds the component space topology network based on the improved Delaunay triangulation algorithm, and generates initial calibration parameters based on the preset inclination threshold; Environmental compensation module: receives environmental parameters collected by the data acquisition module and establishes a thermal expansion-wind load coupling model to output environmental compensation coefficients to correct initial calibration parameters; Installation error analysis module: used to match the corrected calibration parameters with the BIM design benchmark model for point cloud matching, and calculate the three-dimensional coordinate deviation and inclination deviation of each component; Dynamic adjustment module: used to generate multi-degree-of-freedom robotic arm control instructions based on the three-dimensional coordinate deviation and inclination angle deviation to drive the adjustment mechanism to perform posture adjustment.

[0023] The distributed measurement terminal includes a laser ranging unit, a MEMS gyroscope array and a temperature and humidity sensor; among which: Laser ranging unit: The distance between the photovoltaic module and the ranging unit is calculated based on the principle of laser pulse emission and reception. The distance is calculated by measuring the time difference from the emission to the reception of the laser pulse and combining it with the speed of light. The specific formula is: ,in, is the distance between the photovoltaic module and the laser ranging unit, is the speed of light, The time taken for the laser to be emitted and received is measured multiple times to obtain the three-dimensional coordinate data of the photovoltaic module, with an error range of no more than ±0.5mm. MEMS gyroscope array: used to measure the tilt angle of photovoltaic modules in real time. The MEMS gyroscope array uses the principle of micro-electromechanical systems and the Coriolis force generated by the rotating mass in the sensor when the rotation angle changes to calculate the angular deviation of the photovoltaic module relative to the reference plane. The output signal of the gyroscope is the angular velocity. After integration, the tilt angle data of the module is obtained. The formula is: ,in, is the tilt angle of the component, For the gyroscope in time The sensor array has high accuracy and the error range is controlled within ±0.1 degrees. Temperature and humidity sensor: used to measure the temperature and humidity of the environment where the photovoltaic modules are located. By detecting the changes in temperature and humidity in the environment, the environmental data is output in real time for the calculation of the subsequent environmental compensation module. The temperature and humidity sensor converts the temperature and humidity values ​​into electrical signal output through the principles of changes in resistance, capacitance or current, and the error range is controlled within ±2%. Through the efficient integration of laser ranging units, MEMS gyroscope arrays and temperature and humidity sensors, the installed data acquisition module can accurately collect the three-dimensional coordinates, inclination and environmental parameters of photovoltaic modules. This precise measurement method provides a solid data foundation for subsequent positioning calibration, error analysis and dynamic adjustment.

[0024] The positioning calibration module includes a triangulation construction unit, a tilt threshold comparison unit and an initial parameter generation unit; wherein: Triangulation construction unit: Based on the three-dimensional coordinate data provided by the installation data acquisition module, the spatial topological network of the photovoltaic components is constructed through the improved Delaunay triangulation algorithm. After receiving the coordinate point set of the photovoltaic components, the topological structure is constructed in the form of non-overlapping triangular units that cover all coordinate points, and the stability of the connection between components is ensured by minimizing the distance from any point to the center of the circumscribed circle of the triangular unit where it is located; Tilt threshold comparison unit: receives the PV module tilt data provided by the installation data acquisition module and compares it with the preset tilt threshold to determine whether the module meets the installation accuracy requirements and records the location of the module whose tilt exceeds the threshold so as to facilitate accurate positioning in the subsequent calibration step; Initial parameter generation unit: Based on the spatial topological data of the triangulation construction unit and the inclination deviation information of the inclination threshold comparison unit, the weighted average and weighted interpolation algorithms are combined to generate initial calibration parameters to indicate the component coordinates and inclination deviations that need to be adjusted.

[0025] The triangulation building blocks include: Preprocess the collected three-dimensional coordinate data, arrange the data points in order of their coordinates, and remove duplicate and abnormal data; The improved Delaunay triangulation algorithm is used to construct a preliminary topological network for the preprocessed coordinate data, and the radius of the circumscribed circle of any triangle ABC is calculated. , the formula is: ,in, Represents the length of the side formed by data point A and data point B, and its value is the Euclidean distance between the photovoltaic module position A and position B; Represented by data points and data points The side length of the structure is the position of the photovoltaic module. The Euclidean distance from position C; Represented by data points The length of the side formed by the data point A is the Euclidean distance between the photovoltaic module position C and position A; Represents a triangle area; Calculating triangles using Heron's formula Area , the formula is: ,in, represents the semiperimeter of triangle ABC, and its value is defined as ; and Respectively represent the length of each side of the triangle; For each candidate triangle ABC, calculate the center of its circumscribed circle (The center of the circle is determined by a known geometric formula) and for any data point other than the one that forms triangle ABC Calculation Point With the center The Euclidean distance between , the formula is: ,in, Represents data points With the center The Euclidean distance between Represents data points Coordinates in a three-dimensional coordinate system; Respectively represent the center of the circle Coordinates in a three-dimensional coordinate system; is the calculated circumscribed circle radius; candidate triangle ABC is only required for all data points All meet shall be retained; For each triangle that meets the retention criteria , calculate the average deviation of the three internal angles from the ideal angle of 60 degrees , the formula is: ,in, and They represent the three interior angles of triangle ABC respectively; is the ideal interior angle value; is the average absolute value of the three internal angle deviations; Finally, the expression is minimized according to the criterion , determine the basic units that constitute the topological network, where represents the comprehensive metric used to select the best triangle, Represents a preset constant, whose value is a fixed constant and is used to adjust the weight of the angular deviation in the comprehensive measurement. Through the above steps, the triangulation construction unit adopts a clear and precise calculation method to construct the spatial topological network of the photovoltaic module, providing a data basis with a stable structure and unique calculation for the positioning and calibration module.

[0026] The tilt threshold comparison unit includes: Obtaining the tilt angle data of photovoltaic modules: Obtaining the real-time tilt angle data of photovoltaic modules through the MEMS gyroscope array ,in Indicates The tilt angle data of each photovoltaic module, in degrees; Set the tilt threshold: preset the tilt threshold , represents the maximum allowable inclination deviation range, in degrees. This threshold is determined by the installation accuracy requirements and is usually a fixed value, such as ; Tilt comparison: Tilt data for each PV module With preset inclination threshold Compare them one by one to determine whether they meet the accuracy requirements. The judgment formula is: ,in, Indicates the ideal inclination angle of the photovoltaic module, which is usually a preset reference value, such as a horizontal plane or a design value. If the formula is established, it means that the inclination angle of the module is within the allowable range and meets the installation accuracy requirements. Otherwise, it means that the inclination angle deviation of the module exceeds the accuracy requirements. Record the position of the component whose tilt exceeds the threshold: If the tilt data of a photovoltaic component Exceeding the preset inclination threshold , the three-dimensional coordinates of the component are recorded as the component position where the inclination exceeds the threshold, and this position data will be used for subsequent initial parameter generation and calibration adjustment; through the above steps, the inclination threshold comparison unit can accurately determine whether the inclination of each photovoltaic component meets the accuracy requirements, and accurately record the component position where the inclination exceeds the threshold, which provides reliable basic data for subsequent calibration and adjustment.

[0027] The initial parameter generation unit includes: Obtaining spatial topological data and tilt deviation information: Obtaining spatial topological data of photovoltaic modules from triangulation construction units , and obtain the tilt angle deviation information of the photovoltaic module from the tilt angle threshold comparison unit ,in For photovoltaic modules The actual inclination angle, Indicates the ideal tilt angle of the photovoltaic module, For photovoltaic modules The inclination deviation; Calculate the weighted average: for all PV panels in space Deviation from its inclination Perform weighted averaging to generate initial calibration parameters; the weighted averaging calculation formula is: ; ; ,in, are the average values ​​of the three-dimensional coordinates of the initial calibration parameters, is the weight of each PV module, and is the tilt deviation The reciprocal of , that is: ,in, To prevent division by zero errors for small constants, Indicates the total number of PV panels; Perform weighted interpolation: For sparse distribution of three-dimensional coordinate data, a weighted interpolation algorithm is used to optimize the generation of initial calibration parameters. The weighted interpolation algorithm estimates the position of unknown points by using the data of surrounding neighborhood components. The interpolation formula is: ,in, represents the initial calibration parameters after interpolation calculation, The three-dimensional coordinate data of the neighborhood components can be used to smoothly adjust the component position when the spatial topology is uneven. Through the combination of weighted averaging and weighted interpolation algorithms, the initial parameter generation unit can smoothly process the inclination deviation of the photovoltaic components while ensuring the accuracy of the spatial topology data, thereby providing reliable data support for subsequent precise adjustments and ensuring that the installation accuracy of the photovoltaic components meets the preset requirements.

[0028] The environmental compensation module includes an environmental parameter receiving unit, a thermal expansion model unit, a wind load model unit, a thermal expansion-wind load coupling model unit and a compensation coefficient output unit; wherein: Environmental parameter receiving unit: used to receive environmental parameter data from the installed data acquisition module, including temperature, humidity and wind speed; Thermal expansion model unit: used to calculate the thermal expansion effect of photovoltaic modules based on temperature data. Assume that the thermal expansion of photovoltaic modules is , and its calculation formula is: ,in, is the length change of the PV module, is the original length of the PV module, is the thermal expansion coefficient of the photovoltaic module material, is the temperature change, is the actual temperature, is the reference temperature; Wind load model unit: Calculate the force of the photovoltaic module affected by the wind load based on the wind speed data. Assume that the wind load force is , whose expression is: ,in, is the aerodynamic drag coefficient, is the air density, is the windward area of ​​the PV module, is the wind speed data; Thermal expansion-wind load coupling model element: used to couple the thermal expansion effect of the thermal expansion model element Wind load forces for wind load model elements The coupling is performed to generate a comprehensive impact model, which is used to quantify the impact of environmental factors on the installation accuracy of photovoltaic modules. The expression is: ,in, represents the amount of environmental compensation, and are adjustment coefficients, representing the contribution ratios of thermal expansion and wind load to calibration respectively; Compensation coefficient output unit: used to output the environmental compensation coefficient according to the calculation results of the thermal expansion-wind load coupling model , this coefficient is used to correct the initial calibration parameters, compensation coefficient Calculated by the following formula: ,in, represents the amount of environmental compensation, is the weight of each PV module, is the total number of photovoltaic modules; through the above units, the environmental compensation module can accurately establish a thermal expansion-wind load coupling model according to environmental parameters (such as temperature, humidity and wind speed), and calculate the environmental compensation coefficient, which can effectively correct the initial calibration parameters.

[0029] The environmental compensation module also includes a calibration parameter correction unit and an inclination correction unit; wherein: Calibration parameter correction unit: receiving environment compensation coefficient and initial calibration parameters , and apply the compensation coefficient to correct the position and inclination of the PV module to correct the calibration parameters. The formula is: ; ; ,in, is the corrected PV module coordinate, They are the thermal expansion corrections in the X, Y, and Z axis directions, respectively, and the calculation formula is: ; ; ,in, is the initial thermal expansion correction in each axial direction; Tilt correction unit: for the tilt data of photovoltaic modules , using environmental compensation coefficient Correction of inclination deviation , the corrected inclination angle calculation formula is: ,in, is the corrected inclination angle, is the actual inclination angle, is the inclination deviation, is the environmental compensation coefficient; through the above-mentioned calibration parameter correction unit, the environmental compensation coefficient can be accurately applied to the coordinate and inclination data of the PV module, further correcting the initial calibration parameters and compensating for the errors caused by environmental factors (such as temperature and wind speed changes). This compensation process makes the installation position and angle of the PV module more accurate.

[0030] The installation error analysis module includes a data receiving unit, a BIM model registration unit, a point cloud matching unit and an error calculation unit; wherein: Data receiving unit: used to receive the corrected calibration parameters obtained from the environmental compensation module, including the three-dimensional coordinates and inclination angles of each photovoltaic module; and also receive the BIM design benchmark model data, including the three-dimensional coordinates of each photovoltaic module in the design and inclination ;in, Indicates the serial number of the photovoltaic module, Indicates the total number of PV panels; BIM model registration unit: used to register the data of the BIM design benchmark model with the corrected calibration parameters in the same coordinate system, and determine the rigid transformation matrix by solving the minimization problem , and its calculation formula is: ,in, Indicates The corrected coordinates, represents the norm of the Euclidean distance; is a rigid transformation matrix composed of a rotation matrix and a displacement vector. Its function is to transform the coordinates of each photovoltaic module in the BIM model Transform to the calibration parameters In a consistent coordinate system; Point cloud matching unit: The iterative closest point algorithm is used to match the corrected calibration parameter point cloud with the registered BIM design benchmark model point cloud. The matching relationship of each corresponding point is determined by minimizing the distance function. The expression is: ,in, Represents a rigid transformation The BIM model The nearest corresponding point, the matching process gradually converges to the optimal corresponding relationship through iteration; Error calculation unit: Calculate the 3D coordinate deviation of each photovoltaic module based on the point cloud matching results And the inclination deviation ; The three-dimensional coordinate deviation is calculated using the following formula: , in, , and The PV modules in the corrected calibration parameters are The coordinate value of , and They are the photovoltaic components in the BIM model after registration. The coordinate value of The inclination deviation is calculated using the following formula: ,in, For photovoltaic modules The actual inclination after correction, Photovoltaic Components in the BIM Design Benchmark Model design inclination angle; through the coordinated action of the data receiving unit, BIM model registration unit, point cloud matching unit and error calculation unit, the installed error analysis module can accurately match the corrected calibration parameters with the BIM design benchmark model for point cloud matching, and accurately calculate the three-dimensional coordinate deviation and inclination deviation of each photovoltaic module, thereby providing reliable and clear error information for subsequent adjustments.

[0031] The dynamic adjustment module includes an error data receiving unit, a control instruction generating unit and a mechanical arm driving unit; wherein: Error data receiving unit: used to receive the three-dimensional coordinate deviation of each photovoltaic module from the installation error analysis module and inclination deviation ;in, include Represents photovoltaic modules Coordinate deviation in the X, Y, and Z axes, Represents photovoltaic modules The inclination deviation; The control instruction generating unit is used to establish a direct correspondence between the three-dimensional coordinate deviation and the inclination deviation of each photovoltaic module according to the deviation data provided by the error data receiving unit and in combination with the preset adjustment parameters, so as to determine the correction amount and angle adjustment amount of each module in each axis direction. The preset adjustment parameters are respectively and , then each photovoltaic module exist The displacement correction in the axial direction is determined by the following formulas: ; ; ,in, and Represents photovoltaic modules Correction amount in the X, Y, and Z axis directions; at the same time, the component The inclination correction is determined by the following formula: ,in, Represents photovoltaic modules The angle adjustment amount; and integrate each correction amount to form a control instruction , the directive accurately reflects the photovoltaic components Adjustment requirements in terms of displacement and rotation; Robotic arm drive unit: used to receive control instructions output by the control instruction generation unit , and convert it into a driving signal for the multi-degree-of-freedom robotic arm to drive the adjustment mechanism to perform the corresponding posture adjustment operation, thereby realizing the precise correction of the position and inclination of each photovoltaic module; through the coordinated work of the error data receiving unit, the control instruction generating unit and the robotic arm driving unit, the dynamic adjustment module can generate corresponding control instructions based on the accurately calculated three-dimensional coordinates and inclination deviation data, and drive the multi-degree-of-freedom robotic arm to perform precise posture adjustment, thereby ensuring that the positioning and adjustment of the photovoltaic modules during the installation process meet the preset accuracy requirements.

[0032] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0033] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. Real-time measurement and calibration system for photovoltaic power station installation process, characterized by: It includes installation data acquisition module, positioning calibration module, environmental compensation module, installation error analysis module and dynamic adjustment module; among which: Install data acquisition module: synchronously obtain 3D coordinate data, inclination data and environmental parameters of photovoltaic modules through distributed measurement terminals; Positioning calibration module: receives the three-dimensional coordinate data and inclination data collected by the installation data acquisition module, builds the component space topology network based on the improved Delaunay triangulation algorithm, and generates initial calibration parameters based on the preset inclination threshold; Environmental compensation module: receives environmental parameters collected by the data acquisition module and establishes a thermal expansion-wind load coupling model to output environmental compensation coefficients to correct initial calibration parameters; Installation error analysis module: used to match the corrected calibration parameters with the BIM design benchmark model for point cloud matching, and calculate the three-dimensional coordinate deviation and inclination deviation of each component; Dynamic adjustment module: used to generate multi-degree-of-freedom robotic arm control instructions based on the three-dimensional coordinate deviation and inclination angle deviation to drive the adjustment mechanism to perform posture adjustment.

2. The real-time measurement and calibration system for photovoltaic power station installation process according to claim 1 is characterized in that: The distributed measurement terminal includes a laser ranging unit, a MEMS gyroscope array and a temperature and humidity sensor; wherein: Laser ranging unit: The distance between the photovoltaic module and the ranging unit is calculated based on the principle of laser pulse emission and reception. The distance is calculated by measuring the time difference from the emission to the reception of the laser pulse and combining it with the speed of light. The three-dimensional coordinate data of the photovoltaic module is obtained through multiple measurements, and the error range does not exceed ±0.5mm. MEMS gyroscope array: used to measure the tilt angle of photovoltaic modules in real time. The MEMS gyroscope array uses the principle of micro-electromechanical systems and the Coriolis force generated by the rotating mass in the sensor when the rotation angle changes to calculate the angular deviation of the photovoltaic module relative to the reference plane. The output signal of the gyroscope is the angular velocity. After integration, the tilt angle data of the module is obtained, and the error range is controlled within ±0.1 degrees; Temperature and humidity sensor: used to measure the temperature and humidity of the environment where the photovoltaic modules are located, and output environmental data in real time by detecting changes in temperature and humidity in the environment.

3. The real-time measurement and calibration system for the photovoltaic power station installation process according to claim 1 is characterized in that: The positioning calibration module includes a triangulation construction unit, a tilt angle threshold comparison unit and an initial parameter generation unit; wherein: Triangulation construction unit: Based on the three-dimensional coordinate data provided by the installation data acquisition module, the spatial topological network of the photovoltaic module is constructed through the improved Delaunay triangulation algorithm. After receiving the coordinate point set of the photovoltaic module, the topological structure is constructed in the form of triangular units that do not overlap and cover all coordinate points; Inclination threshold comparison unit: receives the photovoltaic module inclination data provided by the installation data acquisition module and compares it with the preset inclination threshold to determine whether the module meets the installation accuracy requirements and records the location of the module whose inclination exceeds the threshold; Initial parameter generation unit: Based on the spatial topological data of the triangulation construction unit and the inclination deviation information of the inclination threshold comparison unit, the initial calibration parameters are generated by combining the weighted average and weighted interpolation algorithms.

4. The real-time measurement and calibration system for the photovoltaic power station installation process according to claim 3 is characterized in that: The triangulation construction unit comprises: Preprocess the collected three-dimensional coordinate data, arrange the data points in order of their coordinates, and remove duplicate and abnormal data; The improved Delaunay triangulation algorithm is used to construct a preliminary topological network for the preprocessed coordinate data, and the radius of the circumscribed circle of any triangle ABC is calculated. , the formula is: ,in, Represents the length of the side formed by data point A and data point B; Represented by data points and data points The length of the side of the composition; Represented by data points The length of the side formed by the data point A; Represents a triangle area; Calculating triangles using Heron's formula Area , the formula is: ,in, represents the semiperimeter of triangle ABC; and Respectively represent the length of each side of the triangle; For each candidate triangle ABC, calculate the center of its circumscribed circle , and for any data point other than the one that forms triangle ABC Calculation Point With the center The Euclidean distance between , the formula is: ,in, Represents data points With the center The Euclidean distance between Represents data points Coordinates in a three-dimensional coordinate system; Respectively represent the center of the circle Coordinates in the three-dimensional coordinate system; candidate triangle ABC is only required for all data points All meet shall be retained; For each triangle that meets the retention criteria , calculate the average deviation of the three internal angles from the ideal angle of 60 degrees , the formula is: ,in, and They represent the three interior angles of triangle ABC respectively; is the ideal interior angle value; is the average absolute value of the three internal angle deviations; Finally, the expression is minimized according to the criterion , determine the basic units that constitute the topological network, where represents the comprehensive metric used to select the best triangle, Indicates a preset constant.

5. The real-time measurement and calibration system for the photovoltaic power station installation process according to claim 4 is characterized in that: The tilt angle threshold comparison unit comprises: Obtaining the tilt angle data of photovoltaic modules: Obtaining the real-time tilt angle data of photovoltaic modules through the MEMS gyroscope array ,in Indicates The tilt angle data of each photovoltaic module, in degrees; Set the tilt threshold: preset the tilt threshold , represents the maximum allowable inclination deviation range, in degrees; Tilt comparison: Tilt data for each PV module With preset inclination threshold Compare them one by one to determine whether they meet the accuracy requirements. The judgment formula is: ,in, Indicates the ideal inclination angle of the photovoltaic module; if the formula is established, it means that the inclination angle of the module is within the allowable range and meets the installation accuracy requirements; otherwise, it means that the inclination angle deviation of the module exceeds the accuracy requirements; Record the position of the component whose tilt exceeds the threshold: If the tilt data of a photovoltaic component Exceeding the preset inclination threshold , the three-dimensional coordinates of the component are recorded as the component position where the inclination exceeds the threshold.

6. The real-time measurement and calibration system for the photovoltaic power station installation process according to claim 5 is characterized in that: The initial parameter generating unit comprises: Obtaining spatial topological data and tilt deviation information: Obtaining spatial topological data of photovoltaic modules from triangulation construction units , and obtain the tilt angle deviation information of the photovoltaic module from the tilt angle threshold comparison unit ,in For photovoltaic modules The actual inclination angle, Indicates the ideal tilt angle of the photovoltaic module, For photovoltaic modules The inclination deviation; Calculate the weighted average: for all PV panels in space Deviation from its inclination Perform weighted averaging to generate initial calibration parameters; the weighted averaging calculation formula is: ; ; ,in, are the average values ​​of the three-dimensional coordinates of the initial calibration parameters, is the weight of each PV module, is the tilt deviation The reciprocal of , that is: ,in, To prevent division by zero errors for small constants, Indicates the total number of PV panels; Perform weighted interpolation: For sparse distribution of three-dimensional coordinate data, a weighted interpolation algorithm is used to optimize the generation of initial calibration parameters. The weighted interpolation algorithm estimates the position of unknown points by using the data of surrounding neighborhood components. The interpolation formula is: ,in, represents the initial calibration parameters after interpolation calculation, It is the three-dimensional coordinate data of the neighborhood component.

7. The real-time measurement and calibration system for photovoltaic power station installation process according to claim 1, characterized in that: The environmental compensation module includes an environmental parameter receiving unit, a thermal expansion model unit, a wind load model unit, a thermal expansion-wind load coupling model unit and a compensation coefficient output unit; wherein: Environmental parameter receiving unit: used to receive environmental parameter data from the installed data acquisition module, including temperature, humidity and wind speed; Thermal expansion model unit: used to calculate the thermal expansion effect of photovoltaic modules based on temperature data. Assume that the thermal expansion of photovoltaic modules is , and its calculation formula is: ,in, is the length change of the PV module, is the original length of the PV module, is the thermal expansion coefficient of the photovoltaic module material, is the temperature change; Wind load model unit: Calculate the force of the photovoltaic module affected by the wind load based on the wind speed data. Assume that the wind load force is , whose expression is: ,in, is the aerodynamic drag coefficient, is the air density, is the windward area of ​​the PV module, is the wind speed data; Thermal expansion-wind load coupling model element: used to couple the thermal expansion effect of the thermal expansion model element Wind load forces for wind load model elements Couple and generate a comprehensive impact model, the expression is: ,in, represents the amount of environmental compensation, and is the adjustment coefficient; Compensation coefficient output unit: used to output the environmental compensation coefficient according to the calculation results of the thermal expansion-wind load coupling model , compensation coefficient Calculated by the following formula: ,in, represents the amount of environmental compensation, is the weight of each PV module, is the total number of PV panels.

8. The real-time measurement and calibration system for the photovoltaic power station installation process according to claim 7, characterized in that: The environmental compensation module also includes a calibration parameter correction unit and a tilt correction unit; wherein: Calibration parameter correction unit: receiving environment compensation coefficient and initial calibration parameters , and apply the compensation coefficient to correct the position and inclination of the PV module to correct the calibration parameters. The formula is: ； ； ,in, is the corrected PV module coordinate, They are the thermal expansion corrections in the X, Y, and Z axis directions respectively; Tilt correction unit: for the tilt data of photovoltaic modules , using environmental compensation coefficient Correction of inclination deviation , the corrected inclination angle calculation formula is: ,in, is the corrected inclination angle, is the actual inclination angle, is the inclination deviation, is the environmental compensation coefficient.

9. The real-time measurement and calibration system for photovoltaic power station installation process according to claim 1, characterized in that: The installation error analysis module includes a data receiving unit, a BIM model registration unit, a point cloud matching unit and an error calculation unit; wherein: Data receiving unit: used to receive the corrected calibration parameters obtained from the environmental compensation module, including the three-dimensional coordinates and inclination angles of each photovoltaic module; and also receive the BIM design benchmark model data, including the three-dimensional coordinates of each photovoltaic module in the design and inclination ;in, Indicates the serial number of the photovoltaic module, Indicates the total number of PV panels; BIM model registration unit: used to register the data of the BIM design benchmark model with the corrected calibration parameters in the same coordinate system, and determine the rigid transformation matrix by solving the minimization problem , and its calculation formula is: ,in, Indicates The corrected coordinates, represents the norm of the Euclidean distance; is a rigid transformation matrix consisting of a rotation matrix and a displacement vector; Point cloud matching unit: The iterative closest point algorithm is used to match the corrected calibration parameter point cloud with the registered BIM design benchmark model point cloud. The matching relationship of each corresponding point is determined by minimizing the distance function. The expression is: ,in, Represents a rigid transformation The BIM model is The nearest corresponding point, the matching process gradually converges to the optimal corresponding relationship through iteration; Error calculation unit: Calculate the 3D coordinate deviation of each photovoltaic module based on the point cloud matching results And the inclination deviation .

10. The real-time measurement and calibration system for the photovoltaic power station installation process according to claim 9, characterized in that: The dynamic adjustment module includes an error data receiving unit, a control instruction generating unit and a mechanical arm driving unit; wherein: Error data receiving unit: used to receive the three-dimensional coordinate deviation of each photovoltaic module from the installation error analysis module and inclination deviation ; Control instruction generating unit: used to establish a direct correspondence between the three-dimensional coordinate deviation and the inclination deviation of each photovoltaic module according to the deviation data provided by the error data receiving unit and in combination with the preset adjustment parameters, so as to determine the correction amount and angle adjustment amount of each module in each axis direction; and integrate each correction amount to form a control instruction; Robotic arm drive unit: used to receive the control instructions output by the control instruction generation unit and convert them into drive signals for the multi-degree-of-freedom robotic arm to drive the adjustment mechanism to perform corresponding posture adjustment operations.

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