Photovoltaic installation system, photovoltaic installation vehicle, and method for determining parking interval and speed control method

Abstract

The application provides a photovoltaic installation system, a photovoltaic installation vehicle and a method for determining a parking interval and a speed control method. Since the half length of the target area is less than or equal to the maximum length projection of the swing arm of the photovoltaic installation vehicle when sweeping the top of the installation support, when the photovoltaic installation vehicle is parked at the center position of the target area, the swing arm can sweep the center position of the photovoltaic module farthest from it in the target area. By setting the length of each parking interval, the swing arm of the photovoltaic installation vehicle can sweep the center position of the photovoltaic module farthest from it in each target area when it is parked at the edge position of each parking interval, so the photovoltaic installation vehicle can achieve installation of the target area when parked at any position of the parking interval. In addition, since the photovoltaic installation vehicle can be parked at any position of the parking interval, the parking position of the photovoltaic installation vehicle is adjusted multiple times each time it is parked, thus shortening the overall installation time of the installation support.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a photovoltaic installation system, a photovoltaic installation vehicle, and a method for determining a parking interval and a speed control method thereof. Background Art

[0002] At present, in order to save manpower and time when installing photovoltaic modules and to improve the installation efficiency of photovoltaic modules, photovoltaic installation vehicles are usually used to replace installers to install photovoltaic modules on mounting brackets.

[0003] After being replaced with a photovoltaic installation vehicle, its docking position is usually adjusted multiple times each time it stops so that the photovoltaic installation vehicle can install photovoltaic modules according to design requirements, that is, reducing the number of additional stops; however, multiple adjustments also result in a longer overall installation time for the mounting bracket.

[0004] Therefore, how to shorten the overall installation time of the mounting bracket is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] In view of this, the present invention provides a photovoltaic installation system, a photovoltaic installation vehicle, and a method for determining a parking interval and a speed control method thereof, so as to shorten the overall installation time of the installation bracket.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] A first aspect of the present application provides a method for determining a parking interval of a photovoltaic installation vehicle, comprising:

[0008] Divide the mounting bracket into at least one target area along its length; the length of the target area is less than or equal to twice the maximum length projection of the swing arm of the photovoltaic mounting vehicle when sweeping over the top of the mounting bracket;

[0009] Aligning the center position of the parking interval of the photovoltaic installation vehicle in each target area with the center position of each target area;

[0010] The length of each docking interval is set so that when the photovoltaic installation vehicle is docked at the edge of each docking interval, its swing arm can sweep over the center position of the photovoltaic assembly farthest from it in each target area.

[0011] Optionally, setting the length of the stop interval includes:

[0012] Determining whether the length of the target area is greater than or equal to twice the projection of the maximum length;

[0013] If the length of the target area is greater than or equal to twice the projection of the maximum length, the length of the docking interval is set to a preset length, and the preset length is less than or equal to the diagonal length of the photovoltaic module.

[0014] Optionally, if the length of the target area is less than twice the maximum length projection, the length of the docking interval is set to the sum of the preset length and the adjusted length; the adjusted length is equal to the difference between twice the maximum length projection and the length of the target area.

[0015] Optionally, before setting the length of the stop interval to the sum of the preset length and the adjusted length, the method further includes:

[0016] Determining whether the length of the target area is less than or equal to the maximum length projection;

[0017] If the length of the target area is less than or equal to the maximum length projection, the length of the docking interval is set to the length of the target area.

[0018] Optionally, the process of determining the diagonal length includes:

[0019] Determining the maximum arm span of the swing arm of the photovoltaic installation vehicle when it sweeps across the top of the target area when the photovoltaic installation vehicle is parked at the center of the target area, and the arm span of the swing arm when installing the photovoltaic module farthest from the swing arm in the target area;

[0020] Twice the absolute value of the difference between the two arm spans is taken as the diagonal length.

[0021] Optionally, if the number of the target regions is N, and N is an integer greater than 1, the lengths of N-1 target regions are equal, and the length of the remaining target region is smaller than the lengths of the other target regions.

[0022] Optionally, the lengths of the N-1 target areas are equal to: twice the maximum length projection, or a set length.

[0023] A second aspect of the present application provides a speed control method for a photovoltaic installation vehicle, comprising:

[0024] After receiving the driving instruction, controlling the photovoltaic installation vehicle to travel along the length direction of the installation bracket; the parking interval of the photovoltaic installation vehicle is determined by the method for determining the parking interval as described in any one of the second aspects of the present application;

[0025] When the next stop interval is detected, the photovoltaic installation vehicle is controlled to decelerate so that the photovoltaic installation vehicle can stop at the center position of the stop interval under set working conditions.

[0026] Optionally, controlling the photovoltaic installation vehicle to travel along the length direction of the installation bracket includes:

[0027] The photovoltaic installation vehicle is controlled to travel at a constant speed along the length direction of the installation bracket.

[0028] Optionally, during the uniform speed driving of the photovoltaic installation vehicle, if a deceleration interval is detected, the photovoltaic installation vehicle is controlled to decelerate at a first set acceleration.

[0029] Optionally, during the uniform speed driving of the photovoltaic installation vehicle, if an acceleration interval is detected, the photovoltaic installation vehicle is controlled to accelerate at a second set acceleration.

[0030] Optionally, during the driving process of the photovoltaic installation vehicle, the following steps may be further included:

[0031] detecting an actual speed of the photovoltaic installation vehicle;

[0032] The actual speed is corrected according to a deviation of the actual speed from a set speed of the photovoltaic installation vehicle.

[0033] A third aspect of the present application provides a photovoltaic installation vehicle, comprising: a controller and a main structure; wherein:

[0034] The main structure is controlled by the controller, and the controller is used to execute the speed control method as described in any one of the second aspects of the present application.

[0035] A fourth aspect of the present application provides a photovoltaic installation system, comprising: a system controller and a photovoltaic installation vehicle; wherein:

[0036] The system controller is communicatively connected to the photovoltaic installation vehicle;

[0037] The system controller is used to execute the speed control method as described in any one of the second aspects of the present application.

[0038] Optionally, the system controller is a remote platform.

[0039] The technical scheme provided by the above embodiment provides a method for determining a parking interval of a photovoltaic installation vehicle. In the method for determining the parking interval, since a half length of the target area is less than or equal to a maximum length projection of a swing arm of the photovoltaic installation vehicle when sweeping over the top of the installation support, when the photovoltaic installation vehicle is parked at a center position of the target area, the swing arm can sweep over a center position of a photovoltaic module farthest from the photovoltaic installation vehicle in the target area, that is, when the photovoltaic installation vehicle is parked at the center position of each target area, installation of each target area can be achieved, and by setting the length of each parking interval, when the photovoltaic installation vehicle is parked at an edge position of each parking interval, the swing arm can sweep over the center position of the photovoltaic module farthest from the photovoltaic installation vehicle in each target area, that is, when the photovoltaic installation vehicle is parked at the edge position of each target area, installation of each target area can also be achieved, so that installation of the target area can be achieved when the photovoltaic installation vehicle is parked at any position of the parking interval. In addition, since the photovoltaic installation vehicle can be parked at any position of the parking interval, the parking position of the photovoltaic installation vehicle is adjusted multiple times each time the photovoltaic installation vehicle is parked, so that the overall installation time of the installation support is shortened. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0041] Figure 1 A flowchart of an embodiment of the method for determining a parking interval of a photovoltaic installation vehicle provided by the present application;

[0042] Figure 2 A schematic diagram of a theoretical relationship between a swing arm of a photovoltaic installation vehicle and an installation support;

[0043] Figure 3 A flowchart of an embodiment of the method for setting the length of a parking interval provided by the present application;

[0044] Figure 4 A schematic diagram of installation of a photovoltaic module farthest from the photovoltaic installation vehicle in a target area when the photovoltaic installation vehicle is parked at a center position and an edge position of a parking interval in one case;

[0045] Figure 5 A schematic diagram of installation of a photovoltaic module farthest from the photovoltaic installation vehicle in a target area when the photovoltaic installation vehicle is parked at a center position and an edge position of a parking interval in another case;

[0046] Figure 6A schematic diagram of a flow chart of another implementation method for setting the length of a stop interval provided in an embodiment of the present application;

[0047] Figure 7 A schematic flow chart of an implementation of a process for determining the diagonal length of a photovoltaic module provided in an embodiment of the present application;

[0048] Figure 8 A schematic diagram for determining the target area and the stop intervals within the target area;

[0049] Figure 9 A schematic flow chart of an implementation of a method for controlling the speed of a photovoltaic installation vehicle provided in an embodiment of the present application;

[0050] Figure 10-12 Flowcharts showing three specific implementations of step S510 provided in the embodiments of the present application;

[0051] Figure 13 A flow chart of another embodiment of the speed control method for a photovoltaic installation vehicle provided in an application example. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0053] In this application, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0054] In order to shorten the overall installation time of the mounting bracket, an embodiment of the present application provides a method for determining a parking interval of a photovoltaic installation vehicle.

[0055] The specific process of the method for determining the parking interval of the photovoltaic installation vehicle is as follows: Figure 1 As shown, the specific steps include:

[0056] S110: Divide the mounting bracket into at least one target area along the length direction.

[0057] In actual applications, the photovoltaic installation vehicle travels along the length of the installation bracket, so the target area should be divided along the length direction.

[0058] In addition, the length of the target area is less than or equal to twice the maximum length projection of the swing arm of the photovoltaic installation vehicle when it sweeps over the top of the installation bracket, where the length projection refers to the projection of the swing arm in the length direction of the installation bracket; in practical applications, such as Figure 2 As shown, the maximum length projection D0, the maximum arm span R0 of the swing arm and the distance H0 from the top of the mounting bracket to the top of the photovoltaic installation vehicle meet the Pythagorean theorem. Therefore, the maximum length projection

[0059] In a specific example, the number of divided target areas is N, where N is an integer greater than 1, wherein the lengths of N-1 target areas are equal, and the length of the remaining target area is smaller than the lengths of the other target areas.

[0060] Optionally, the preset length can be equal to twice the projection of the above-mentioned maximum length, or can be equal to the set length. There is no specific limitation here and it can be determined according to the specific circumstances, all of which are within the scope of protection of this application.

[0061] It should be noted that the set length is limited according to actual usage requirements and is not specifically limited here, and is within the scope of protection of this application; it should be noted that the set length must be less than twice the above-mentioned maximum length projection.

[0062] In another specific example, the number of divided target areas is greater than 2, all target areas are divided into three parts, and the lengths of the three target areas are not equal.

[0063] The above are only two ways of dividing the target area. In practical applications, including but not limited to these, no specific limitations are made here. It can be determined according to the specific situation and is within the scope of protection of this application.

[0064] S120: Align the center position of the parking interval of the photovoltaic installation vehicle in each target area with the center position of each target area.

[0065] Since half the length of the target area is less than or equal to the maximum length projection of the photovoltaic installation vehicle's swing arm when sweeping over the top of the mounting bracket, when the photovoltaic installation vehicle is parked at the center of the target area, its swing arm can sweep over the center of the photovoltaic module farthest from it in the target area. Therefore, when the photovoltaic installation vehicle is parked at the center of each target area, installation of each target area can be achieved.

[0066] S130. Setting the length of each docking interval so that when the photovoltaic installation vehicle is docked at the edge of each docking interval, its swing arm can sweep over the center position of the photovoltaic assembly farthest from it in each target area.

[0067] From the above, it can be seen that when the photovoltaic installation vehicle is parked at the center position of each target area, the installation of each target area can be achieved, and by setting the length of each parking interval, when the photovoltaic installation vehicle is parked at the edge position of each parking interval, its swing arm can sweep the center position of the photovoltaic component farthest from it in each target area, that is, when the photovoltaic installation vehicle is parked at the edge position of each target area, the installation of each target area can also be achieved. Therefore, the photovoltaic installation vehicle can achieve installation of the target area when it is parked at any position in the parking interval; in addition, since the photovoltaic installation vehicle can be parked at any position in the parking interval, it avoids multiple adjustments to its parking position each time the photovoltaic installation vehicle stops, thereby shortening the overall installation time of the mounting bracket.

[0068] Another embodiment of the present application provides a specific implementation method for setting the length of the stop interval, and the specific process is as follows: Figure 3 As shown, the specific steps include:

[0069] S210: Determine whether the length of the target area is greater than or equal to twice the maximum length projection.

[0070] If the length of the target area is greater than or equal to twice the maximum length projection, step S220 is executed; if the length of the target area is less than twice the maximum length projection, step S230 is executed.

[0071] S220: Set the length of the stop interval to a preset length.

[0072] The preset length is less than or equal to the diagonal length of the photovoltaic module.

[0073] The following takes the preset length equal to the diagonal length of the photovoltaic module as an example to explain in detail how the swing arm of the photovoltaic installation vehicle can sweep across the center position of the photovoltaic module farthest from it in the target area when the photovoltaic installation vehicle is parked at the edge of the parking range. Figure 4 ( Figure 4 Take the example where the length of the docking interval is equal to the diagonal length Ld and the length L of the target area is equal to 2D0 for demonstration, as shown below:

[0074] From the above, we can see that when the photovoltaic installation vehicle is parked at the center of the parking interval in the target area, the swing arm of the photovoltaic installation vehicle can sweep the center of the photovoltaic module farthest from it in the target area. Therefore, the three sides R, r, and Ld / 2 can form a triangle, that is, they have the following relationship: R-Ld / 2 <r;其中,R为光伏安装车停靠在目标区域的停靠区间的中心位置时其摆臂在扫过目标区域顶部时的最大臂展,由于L=2D0,所以R等于其摆臂的最大臂展R0;r为光伏安装车停靠在目标区域的停靠区间的中心位置时其摆臂在安装目标区域中距离其最远的光伏组件时的臂展;Ld为光伏组件的对角长度。

[0075] When the photovoltaic installation vehicle is parked at the edge of the docking interval in the target area, r+Ld / 2>R-Ld / 2+Ld / 2=R=R0, that is, r+Ld / 2>R0. Since the arm span r′≤R0 of the photovoltaic installation vehicle's swing arm when installing the photovoltaic module farthest from it in the target area, r+Ld / 2>r′. Therefore, the three sides r, r′, and Ld / 2 can form a triangle, that is, the photovoltaic installation vehicle's swing arm can sweep the center position of the photovoltaic module farthest from it in the target area.

[0076] Based on this, it can be inferred that when the preset length is less than the diagonal length of the photovoltaic module, when the photovoltaic installation vehicle is parked at the edge of the parking area, its swing arm can also sweep the center position of the photovoltaic module farthest from it in the target area.

[0077] S230: Set the length of the stop section to the sum of the preset length and the adjusted length.

[0078] The adjusted length is equal to twice the maximum length projection minus the length of the target area.

[0079] like Figure 5 ( Figure 5 Take the example of the preset length being equal to the diagonal length Ld and the length of the target area L<2D0 for demonstration. Figure 5 The parameters L, R, r, r′, and Ld / 2 in Figure 4 The references are the same and will not be repeated here. However, it should be noted that these parameters are Figure 5 The specific value in Figure 4 The values ​​in are different. In addition, 2Δ refers to the adjustment length, that is, Δ is half of the adjustment length.

[0080] exist Figure 5 Find the position L / 2+Δ away from the left side of the target area. Assume that the PV installation vehicle is parked at this position. Draw the arm span of the PV installation vehicle when it is installing the PV module farthest from itself in the target area, as shown in the figure below: Figure 5 The value of r″ in Figure 4 The value of r in r' and r" is the same, i.e. less than or equal to R0; usually, the value of r' and r" is much greater than Δ, so the value of r' and r" can be approximately considered as equal, i.e. r"≤R0, thus, when the length of the parking interval is set as the sum of the preset length and the adjusted length, the swing arm of the photovoltaic installation vehicle can sweep the center position of the photovoltaic module farthest from it in the target area when the photovoltaic installation vehicle is parked at the edge position of the parking interval.

[0081] The embodiment also provides another specific implementation of setting the length of the parking interval, and a specific process thereof is shown in Figure 6 The embodiment further includes the following steps before step S230 of the above embodiment:

[0082] S310, judging whether the length of the target area is less than or equal to the maximum length projection.

[0083] If the length of the target area is less than or equal to the maximum length projection, step S320 is executed; if the length of the target area is greater than the maximum length projection, step S230 is executed.

[0084] S320, setting the length of the parking interval as the length of the target area.

[0085] Since the length of the parking interval is less than the maximum length projection, when the photovoltaic installation vehicle is parked at the edge position of the target area, the swing arm of the photovoltaic installation vehicle can sweep any position in the target area, i.e. the center position of the photovoltaic module farthest from it, thus, when the length of the parking interval is set as the length of the target area, the swing arm of the photovoltaic installation vehicle can sweep the center position of the photovoltaic module farthest from it in the target area when the photovoltaic installation vehicle is parked at the edge position of the parking interval.

[0086] In the above two embodiments, the length of the parking interval is set more finely by adding the judgment of the length of the target area, i.e. the length of the target area is increased under appropriate conditions, so that the photovoltaic installation vehicle can be parked in a larger interval range under appropriate conditions, and more unexpected factors can be avoided, such as pits on the ground.

[0087] The application provides a specific implementation of the process of determining the diagonal length of the photovoltaic module, and a specific process thereof is shown in Figure 7 The specific implementation includes the following steps:

[0088] S410, determining the maximum arm span of the swing arm of the photovoltaic installation vehicle when sweeping the top of the target area, and the arm span of the swing arm when installing the photovoltaic module farthest from it in the target area when the photovoltaic installation vehicle is parked at the center position of the target area.

[0089] For the convenience of explanation, the maximum arm span of the PV installation vehicle when it is parked at the center of the target area and sweeps across the top of the target area is recorded as the first arm span, for example Figure 8 ( Figure 8 Only one target area is shown in the figure); when the PV installation vehicle is parked at the center of the target area, the arm span of the PV installation vehicle when the PV installation vehicle is located at the PV module farthest from the PV installation vehicle in the target area is recorded as the second arm span, for example Figure 8 The r in .

[0090] In a specific example, the first arm span can be determined based on half the length of the target area and the distance between the top of the target area and the top of the photovoltaic installation vehicle, and using the Pythagorean theorem; Figure 8 For example, the first arm span satisfies the following relationship: R 2 =D 2 +H 2 ; Where R is the first arm span, D is half the length of the target area, and H is the distance between the top of the target area and the top of the photovoltaic installation vehicle.

[0091] In another example, the angle between the swing arm and the length direction when it reaches the first arm span is determined by the inverse tangent function based on the half length of the target area and the distance between the top of the target area and the top of the photovoltaic installation vehicle. This angle is recorded as the first angle. Figure 8 For example, the first included angle satisfies the following relationship: ∠R=arctan(H / D); then, based on this included angle and half the length of the target area, the first arm span can be determined by the cosine function. Figure 8 For example, the first arm span specifically satisfies the following relationship: R = D / cos∠R = D / cos[arctan(H / D)]; where R is the first arm span, ∠R is the first angle, D is half the length of the target area, and H is the distance between the top of the target area and the top of the photovoltaic installation vehicle.

[0092] The above only shows two ways to determine the first arm span, which are not specifically limited here and can be determined according to specific circumstances, and are all within the scope of protection of this application.

[0093] In a specific example, the distance from the center of the photovoltaic module farthest from the photovoltaic installation vehicle in the target area to the top of the photovoltaic installation vehicle is determined based on the vertical distance between the top of the target area and the top of the photovoltaic installation vehicle and the width of the photovoltaic module, which is recorded as the first distance. Figure 8 For example, the first distance satisfies the following relationship: h = Ha / 2; then, according to the length of the target area and the length of the photovoltaic module, the distance from the center of the photovoltaic module farthest from the photovoltaic installation vehicle in the target area to the vertical center line of the photovoltaic installation vehicle is determined as the second distance. Figure 8For example, the second distance specifically satisfies the following relationship: d=D-b / 2; finally, according to the first distance and the second distance, the second arm span of the swing arm is determined by the Pythagorean theorem, so that Figure 8 For example, the second arm span specifically satisfies the following relationship: r 2 = h 2 +d 2 =(H-a / 2) 2 +(D-b / 2) 2 ; wherein r is the second arm span, h is the first distance, d is the second distance, H is the distance between the top of the target area and the top of the photovoltaic installation vehicle, a is the width of the photovoltaic module, D is half the length of the target area, and b is the length of the photovoltaic module.

[0094] In another example, first the first distance and the second distance are determined, and the specific relationship is the same, which will not be repeated here; then, according to the first distance and the second distance, the angle between the swing arm and the length direction when the swing arm reaches the second arm span is determined by the arctangent function, which is called the second angle, so that Figure 8 For example, the second angle specifically satisfies the following relationship: ∠r=arctan(h / d); finally, according to the second angle and the second distance, the second arm span is determined by the cosine function, so that Figure 8 For example, the second arm span specifically satisfies the following relationship: r=d / cos∠r=d / cos[arctan(h / d)]; wherein r is the second arm span, d is the second distance, ∠r is the second angle, h is the first distance, and d is the second distance.

[0095] The above only shows two ways to determine the second arm span, which is not specifically limited here and can be determined according to the specific situation, and is within the protection scope of the present application.

[0096] S420, take twice the absolute value of the difference between the two arm spans as the diagonal length.

[0097] The first arm span and the second arm span have been described in detail above, and will not be repeated here; for example, Figure 8 For example, the difference between the two arm spans specifically satisfies the following relationship: ΔRr=R-r; wherein ΔRr is the difference between the two arm spans, R is the first arm span, and r is the second arm span.

[0098] It should be noted that, in general, when installing the photovoltaic module farthest from the photovoltaic installation vehicle in the target area, the first bridge arm and the second bridge arm are much larger than half the diagonal length of the photovoltaic module, so it can be approximately considered that the first bridge arm and the second bridge arm coincide, that is, the diagonal length of the photovoltaic module is equal to twice the absolute value of the difference between the two arm spans.

[0099] The above is only a specific implementation method of the process of determining the diagonal length of a photovoltaic module. In practical applications, including but not limited to this, for example, the diagonal length of the photovoltaic module can be directly measured. There is no specific limitation here and it can be determined according to the specific situation, all of which are within the scope of protection of this application.

[0100] Another embodiment of the present application provides a method for controlling the speed of a photovoltaic installation vehicle, and the specific process is as follows: Figure 9 As shown, the specific steps include:

[0101] S510: After receiving the driving instruction, control the photovoltaic installation vehicle to travel along the length direction of the installation bracket.

[0102] Among them, the parking interval of the photovoltaic installation vehicle is determined by the parking interval determination method provided by the above embodiment. The specific determination method has been described in detail in the above embodiment and will not be repeated here.

[0103] S520: When the next stop interval is detected, the photovoltaic installation vehicle is controlled to decelerate so that the photovoltaic installation vehicle can stop at the center of the stop interval under the set working conditions.

[0104] The set working condition is the staff's prediction of the actual working condition based on experience and historical data. There is no specific limitation here and it can be determined according to the specific situation. For example, the friction factor in the docking area is predicted to be 0.6.

[0105] In a specific example, when building a mounting bracket, a docking interval is set by pasting a reflective marker sticker of a corresponding length at the corresponding position of the bottom of the mounting bracket, and a detection photoelectric device is also set at the corresponding position of the photovoltaic mounting vehicle, that is, the detection of the reflective marker sticker is achieved by detecting the photoelectric device to detect the docking interval.

[0106] It should be noted that the stop interval setting has been described in detail in the above embodiment and will not be repeated here.

[0107] The above example is only a specific implementation method for detecting the stop interval. In practical applications, including but not limited to the above implementation method, no specific limitation is made here and it can be determined according to the specific situation, all of which are within the scope of protection of this application.

[0108] This embodiment also provides a specific implementation of step S510, and its specific process is as follows: Figure 10 As shown, the specific steps include:

[0109] S610: After receiving the driving instruction, control the photovoltaic installation vehicle to travel at a constant speed along the length direction of the installation bracket.

[0110] Among them, the speed of uniform driving can be set according to actual conditions, and is not specifically limited here, and is within the scope of protection of this application.

[0111] This embodiment also provides another specific implementation of step S510, and its specific process is as follows: Figure 11 As shown, this embodiment further includes the following steps after step S610 in the above embodiment:

[0112] S710: While the photovoltaic installation vehicle is traveling at a constant speed, determining whether a deceleration interval is detected;

[0113] If a deceleration interval is detected, step S720 is first executed, and then the process returns to step S710 ; if no deceleration interval is detected, step S730 is first executed, and then the process returns to step S520 .

[0114] It should be noted that the implementation method for detecting the deceleration zone is the same as the implementation method for detecting the stop zone, and will not be repeated here.

[0115] S720: Control the photovoltaic installation vehicle to decelerate at a first set acceleration.

[0116] Among them, the first set acceleration can be set according to actual conditions and is not specifically limited here, and is within the protection scope of this application.

[0117] S730: Control the photovoltaic installation vehicle to travel at a constant speed at the current speed.

[0118] This embodiment also provides another specific implementation of step S510, and its specific process is as follows: Figure 12 ( Figure 12 (In the example, only step S810 is performed after step S730.) This embodiment further includes the following steps after step S610 in the above embodiment:

[0119] S810, while the photovoltaic installation vehicle is traveling at a constant speed, determining whether an acceleration interval is detected;

[0120] If an acceleration interval is detected, step S820 is first executed, and then the process returns to step S810 ; if no acceleration interval is detected, step S830 is first executed, and then the process returns to step S520 .

[0121] It should be noted that the implementation method for detecting the acceleration interval is the same as the implementation method for detecting the stop interval, and will not be repeated here.

[0122] S820: Control the photovoltaic installation vehicle to accelerate at a second set acceleration.

[0123] The second set acceleration can be set according to actual conditions, and is not specifically limited herein and falls within the protection scope of the present application.

[0124] S830, control the photovoltaic installation vehicle to travel at a constant speed at the current speed.

[0125] In actual application, if the step S710 and the step S810 are included simultaneously, the step S810 can be executed simultaneously with the step S710, or the step S810 can be executed after the step S730, or the step S710 can be executed after the step S830, which is not specifically limited herein and falls within the protection scope of the present application.

[0126] The embodiment further provides another embodiment of the speed control method of the photovoltaic installation vehicle, and a specific flow thereof is as shown in the figure Figure 13 The embodiment further includes the following steps during the travel of the photovoltaic installation vehicle:

[0127] S910, detect the actual speed of the photovoltaic installation vehicle.

[0128] In a specific example, the reflective stickers are pasted on the same position of each column of the installation support, and the detection photoelectricity is arranged at the corresponding position of the photovoltaic installation vehicle; then, the time interval at which the detection photoelectricity detects the reflective stickers on the adjacent columns is recorded, and the actual speed of the photovoltaic installation vehicle can be calculated by using the time interval and the distance between the adjacent columns.

[0129] It should be noted that the time interval and the distance between the adjacent columns to calculate the actual speed of the photovoltaic installation vehicle are relatively mature technologies in the prior art, which will not be described herein again. In addition, it should be noted that the position and length of the reflective stickers pasted on the columns are not specifically limited, but the position and starting point of the reflective stickers on each column should be kept consistent, so as to ensure that the distance between the adjacent two detection points is equal to the distance between the adjacent two columns, that is, to ensure the accuracy of the detection of the actual speed of the photovoltaic installation vehicle.

[0130] The above is only one embodiment of detecting the actual speed of the photovoltaic installation vehicle, and in actual application, the embodiments include but are not limited to the above embodiment, which is not specifically limited herein and falls within the protection scope of the present application.

[0131] S920, correct the actual speed of the photovoltaic installation vehicle according to the deviation of the actual speed of the photovoltaic installation vehicle relative to the set speed of the photovoltaic installation vehicle.

[0132] It should be noted that the step S910 and the step S920 are executed at any time during the travel of the photovoltaic installation vehicle, so the step S910 and the step S920 can be executed simultaneously with other steps, and thus the steps S910 and S920 Figure 13 The relationship between step S910 and step S920 and other steps is not shown.

[0133] Another embodiment of the present application further provides a photovoltaic installation vehicle, which specifically includes: a controller and a main structure; wherein: the main structure is controlled by the controller, and the controller is used to execute the speed control method provided in the above embodiment.

[0134] It should be noted that the main structure of the photovoltaic installation vehicle is already a relatively mature technology and will not be described in detail here. Please refer to the existing technology.

[0135] This embodiment further provides a photovoltaic installation system, which specifically includes: a system controller and a photovoltaic installation vehicle, the system controller is communicatively connected to the photovoltaic installation vehicle, and the system controller is used to execute the speed control method provided in the above embodiment.

[0136] Optionally, the system controller may be a remote platform. In practical applications, including but not limited to this, it may depend on the specific circumstances and is within the scope of protection of this application.

[0137] It should be noted that photovoltaic installation vehicles are already a relatively mature technology and will not be described in detail here. Please refer to the existing technology.

[0138] For the above description of the disclosed embodiments, the features recorded in the various embodiments in this specification can be replaced or combined with each other, so that professionals in this field can implement or use this application. The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as above with a preferred embodiment, it is not used to limit the present invention. Any technician familiar with the field can make many possible changes and modifications to the technical solution of the present invention using the methods and technical contents disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of protection of the technical solution of the present invention.

Claims

1. A method for determining a parking interval for a photovoltaic installation vehicle, characterized in that: include: Divide the mounting bracket into at least one target area along its length; the length of the target area is less than or equal to twice the maximum length projection of the swing arm of the photovoltaic mounting vehicle when sweeping over the top of the mounting bracket; Aligning the center position of the parking interval of the photovoltaic installation vehicle in each target area with the center position of each target area; The length of each docking interval is set so that when the photovoltaic installation vehicle is docked at the edge of each docking interval, its swing arm can sweep over the center position of the photovoltaic assembly farthest from it in each target area.

2. The method for determining a stop interval according to claim 1, wherein: Setting the length of the stop interval includes: Determining whether the length of the target area is greater than or equal to twice the projection of the maximum length; If the length of the target area is greater than or equal to twice the projection of the maximum length, the length of the docking interval is set to a preset length, and the preset length is less than or equal to the diagonal length of the photovoltaic module.

3. The method for determining a stop interval according to claim 2, wherein: If the length of the target area is less than twice the maximum length projection, the length of the docking interval is set to the sum of the preset length and the adjusted length; the adjusted length is equal to the difference between twice the maximum length projection and the length of the target area.

4. The method for determining a stop interval according to claim 3, wherein: Before setting the length of the stop interval to the sum of the preset length and the adjusted length, the method further includes: Determining whether the length of the target area is less than or equal to the maximum length projection; If the length of the target area is less than or equal to the maximum length projection, the length of the docking interval is set to the length of the target area.

5. The method for determining a stop interval according to any one of claims 2 to 4, characterized in that: The process of determining the diagonal length includes: Determining the maximum arm span of the swing arm of the photovoltaic installation vehicle when it sweeps across the top of the target area when the photovoltaic installation vehicle is parked at the center of the target area, and the arm span of the swing arm when installing the photovoltaic module farthest from the swing arm in the target area; Twice the absolute value of the difference between the two arm spans is taken as the diagonal length.

6. The method for determining a stop interval according to any one of claims 1 to 4, characterized in that: If the number of the target regions is N, where N is an integer greater than 1, the lengths of N-1 of the target regions are equal, and the length of the remaining target region is smaller than the lengths of the other target regions.

7. The method for determining a stop interval according to claim 6, wherein: The lengths of the N-1 target areas are equal to: twice the maximum length projection, or a set length.

8. A method for controlling the speed of a photovoltaic installation vehicle, characterized in that: include: After receiving the driving instruction, the photovoltaic installation vehicle is controlled to travel along the length direction of the installation bracket; the parking interval of the photovoltaic installation vehicle is determined by the method for determining the parking interval according to any one of claims 1 to 7; When the next stop interval is detected, the photovoltaic installation vehicle is controlled to decelerate so that the photovoltaic installation vehicle can stop at the center position of the stop interval under set working conditions.

9. The speed control method according to claim 8, characterized in that: Controlling the photovoltaic installation vehicle to travel along the length direction of the installation bracket includes: The photovoltaic installation vehicle is controlled to travel at a constant speed along the length direction of the installation bracket.

10. The speed control method according to claim 9, characterized in that: During the uniform speed driving of the photovoltaic installation vehicle, if a deceleration interval is detected, the photovoltaic installation vehicle is controlled to decelerate at a first set acceleration.

11. The speed control method according to claim 9, characterized in that: During the uniform speed driving of the photovoltaic installation vehicle, if an acceleration interval is detected, the photovoltaic installation vehicle is controlled to accelerate at a second set acceleration.

12. The speed control method according to any one of claims 8 to 11, characterized in that: During the driving process of the photovoltaic installation vehicle, the following steps are also included: detecting an actual speed of the photovoltaic installation vehicle; The actual speed is corrected according to a deviation of the actual speed from a set speed of the photovoltaic installation vehicle.

13. A photovoltaic installation vehicle, characterized in that: include: A controller and a main structure; wherein: The main structure is controlled by the controller, and the controller is used to execute the speed control method according to any one of claims 8 to 12.

14. A photovoltaic installation system, characterized in that: include: System controller and photovoltaic installation vehicle; including: The system controller is communicatively connected to the photovoltaic installation vehicle; The system controller is configured to execute the speed control method according to any one of claims 8 to 12.

15. The photovoltaic installation system according to claim 14, characterized in that: The system controller is a remote platform.

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