A photovoltaic panel installation apparatus, installation method, medium and apparatus

Abstract

This invention relates to a photovoltaic panel installation device, installation method, medium, and equipment. A first moving platform is equipped with a moving component and a clamping component. A photovoltaic panel is placed on a second moving platform. The clamping component can move to the second moving platform under the drive of the moving component to clamp the photovoltaic panel. The first moving platform is also equipped with a positioning module, a detection module, and a control unit. The positioning module can acquire the first geographical location information of the photovoltaic panel installation device in real time. The detection module can detect the relative position information between the photovoltaic panel and the clamping component. The control unit can generate a control strategy for the moving component and the clamping component based on the first geographical location information and the relative position information. This control strategy controls the clamping component to clamp the photovoltaic panel and perform the installation action. The device can acquire the first geographical location information of the first moving platform in real time and calculate the second geographical location information of the second moving platform based on the relative position information, facilitating precise clamping of the photovoltaic panel.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic clean energy, specifically to a photovoltaic panel installation device, installation method, medium, and equipment. Background Technology

[0002] With continuous social development and increasing environmental awareness, clean energy is receiving more and more attention. Solar energy, as a renewable and pollution-free clean energy source, is gaining increasing importance. Photovoltaic power generation technology has been widely applied globally.

[0003] For photovoltaic (PV) power generation systems, the installation structure of PV modules has been continuously improved towards safer, more reliable, and faster installation. Existing PV power generation systems typically consist of multiple rectangular PV panels installed using flexible support methods such as steel cables and PV brackets. A publication with publication number CN114905482A, titled "Intelligent PV Installation Robot," provides an automated installation solution for PV panels. However, this technical solution has the following problem: Since the front end of the robot holds the PV panels to be installed, as the number of PV panels decreases during installation, the robot's center of gravity deviates from its geometric center, posing a risk of tipping over. Summary of the Invention

[0004] In view of the above problems, the present invention provides a photovoltaic panel installation device, installation method, medium and equipment, which solves the problem that existing photovoltaic panel installation robots integrate the photovoltaic panel to be installed at their front end, causing the center of gravity to gradually deviate from the geometric center during the installation process.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a photovoltaic panel installation device, including a first moving platform, a moving component, a clamping component, a second moving platform, a positioning module, a detection module, and a control unit; the moving component is disposed on the first moving platform and has a moving end; the clamping component is disposed on the moving end and is used to clamp the photovoltaic panel; the second moving platform is used to place the photovoltaic panel, and the second moving platform is spaced apart from the first moving platform along a first moving direction of the first moving platform, and the second moving platform and the first moving platform can move along the same motion trajectory;

[0006] A positioning module is positioned between the moving component and the first moving platform. The positioning module is used to collect first geographical location information, which includes the coordinate information of the first moving platform. A detection module is positioned on the first moving platform. The detection module is used to acquire relative position information, which includes first relative position information and second relative position information. The first relative position information includes the relative distance and spatial position between the photovoltaic panel and the clamping component. The second relative position information includes the relative distance and spatial position between the first moving platform and the area to be installed. A control unit is electrically connected to the positioning module and the detection module. It is used to generate a control strategy for the moving component and the clamping component based on the first geographical location information and the relative position information, and to control the clamping component to clamp and install the photovoltaic panel according to the control strategy.

[0007] In some embodiments, the detection module includes a first radar device, a second radar device, a first vision sensor, and a second vision sensor. The first radar device is disposed in a second movement direction of the first moving platform and is used to acquire first position information, which is the position information of the first moving platform in the area to be installed. The second radar device is disposed in a first movement direction of the first moving platform and is used to acquire second position information, which is the position information of the second moving platform in the area to be installed. The first vision sensor is disposed on the moving component and is used to acquire first image information, which includes an image of the photovoltaic panel. The second vision sensor is disposed on the first moving platform and is used to acquire second image information, which includes an image of the area to be installed. The control unit is electrically connected to the first radar device, the second radar device, the first vision sensor, and the second vision sensor and is used to generate relative position information of the photovoltaic panel relative to the clamping component based on the first position information, the second position information, the first image information, and the second image information.

[0008] In some embodiments, the mobile component includes a first robotic arm and a second robotic arm, the first robotic arm being disposed on a first mobile platform, the first robotic arm being connected to the second robotic arm via a transmission, and a mobile end being disposed on the second robotic arm.

[0009] In some embodiments, the clamping assembly includes a clamping frame, at least one clamping suction cup, and a pressure sensor. The clamping frame is disposed on the movable end; the clamping suction cup is disposed on the clamping frame and is used to adsorb photovoltaic panels; the pressure sensor is disposed on the clamping frame and is used to collect the clamping pressure value of the clamping suction cup. The pressure sensor is also electrically connected to a control unit, which is used to adjust the moving speed of the movable assembly according to the pressure sensor.

[0010] In a second aspect, the present invention also provides a photovoltaic panel installation method, applicable to the photovoltaic panel installation equipment described in the first aspect, wherein the detection module includes a first radar device, a second radar device, a first vision sensor, and a second vision sensor, and the method includes:

[0011] Obtain the first geographical location information and the area to be installed, and generate the movement path of the first mobile platform. The area to be installed includes multiple installation sub-areas, and each photovoltaic panel corresponds to one installation sub-area.

[0012] The system acquires second location information collected by the second radar device and first image information collected by the first vision sensor, generates second geographic location information corresponding to the second mobile platform, obtains the initial location information of the current mobile terminal based on the first image information, and generates a mobile component retrieval strategy based on the initial location information and the second geographic location information. The retrieval strategy includes the spatial movement direction, movement distance, and movement speed of the mobile terminal.

[0013] The moving component is controlled according to the picking strategy to move the clamping component to the photovoltaic panel to be installed and clamp the photovoltaic panel;

[0014] Acquire first location information collected by the first radar device and second image information collected by the second visual sensor, and obtain third geographical location information corresponding to the installation sub-area based on the first location information and the second image information;

[0015] A placement strategy for the mobile component is generated based on third-party geographic location information. The mobile component is controlled according to the placement strategy to move the clamping component to the installation sub-area for photovoltaic panel installation. The placement strategy includes the spatial placement direction, placement distance, and placement speed of the mobile component.

[0016] In some embodiments, the method further includes:

[0017] Once the photovoltaic panels are installed, the first and second mobile platforms are moved to the next installation sub-area according to the moving path.

[0018] In some embodiments, the area to be installed is obtained through the following steps:

[0019] Acquire an image of a region centered on the first geographic location information and with a preset size as the radius from a satellite cloud image;

[0020] Identify regions in the region image that meet the first preset parameters and set them as the regions to be installed.

[0021] In some embodiments, the installation sub-region is obtained through the following steps:

[0022] The location information of the first mobile platform in the area to be installed is obtained based on the first geographic location information;

[0023] Obtain first location information, generate a point cloud image based on the first location information and orientation information, and obtain the area in the point cloud image that meets the second preset parameters, which is recorded as the installation sub-region;

[0024] Multiple installation coordinate points are generated based on the orientation information, the second preset parameters, and the movement path;

[0025] The photovoltaic panels are installed by controlling the installation equipment according to multiple installation coordinate points.

[0026] In a third aspect, the present invention also provides a computer-readable storage medium having computer program instructions stored thereon, wherein in some embodiments, the computer program instructions, when executed by a processor, implement the method described in the second aspect.

[0027] In a fourth aspect, the present invention also provides an electronic device including a memory and a processor, wherein in some embodiments the memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method described in the first aspect.

[0028] Unlike existing technologies, the above technical solution includes a first mobile platform with a moving component and a clamping component, and a second mobile platform on which a photovoltaic panel is placed. The clamping component, driven by the moving component, moves to the second mobile platform to clamp the photovoltaic panel. The first mobile platform also includes a positioning module, a detection module, and a control unit. The positioning module can acquire the first geographical location information of the photovoltaic panel installation equipment in real time. The detection module can detect the relative position information between the photovoltaic panel and the clamping component. The control unit can generate a control strategy for the moving component and the clamping component based on the first geographical location information and the relative position information, and then control the clamping component to clamp the photovoltaic panel using this control strategy. During the installation process, this technical solution, by adding a positioning module, can acquire the first geographical location information of the first mobile platform in real time and calculate the second geographical location information of the second mobile platform based on the relative position information. It then generates a corresponding control strategy to clamp the photovoltaic panel. Simultaneously, the photovoltaic panel is placed on the second mobile platform. The second mobile platform and the first mobile platform are independent entities. The moving components and clamping components on the first mobile platform will not be affected by the center of gravity shift as the number of photovoltaic panels to be installed gradually decreases. In addition, the relative position information between the second mobile platform and the first mobile platform is acquired through a detection module, which facilitates the precise clamping of the photovoltaic panel.

[0029] The above description of the invention is merely an overview of the technical solution of the present invention. In order to enable those skilled in the art to better understand the technical solution of the present invention and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of the present invention easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of the present invention. Attached Figure Description

[0030] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of the present invention and other related contents, and should not be considered as limitations on the present invention.

[0031] In the accompanying drawings of the instruction manual:

[0032] Figure 1 This is a schematic diagram of a photovoltaic panel installation device according to a specific embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the first mobile platform according to a specific embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the clamping assembly according to a specific embodiment of the present invention;

[0035] Figure 4 This is a diagram of the first step of the photovoltaic panel installation method according to a specific embodiment of the present invention;

[0036] Figure 5 This is a diagram of the second step of the photovoltaic panel installation method according to a specific embodiment of the present invention.

[0037] The reference numerals used in the above figures are explained as follows:

[0038] 1. The first mobile platform;

[0039] 2. Mobile components;

[0040] 21. The first robotic arm;

[0041] 22. Second robotic arm;

[0042] 221. Mobile devices;

[0043] 3. Clamping components;

[0044] 31. Clamping frame;

[0045] 32. Clamping suction cup;

[0046] 4. Second mobile platform;

[0047] 5. Detection module;

[0048] 51. First radar device;

[0049] 52. Second radar device;

[0050] 53. First visual sensor;

[0051] 54. Second visual sensor;

[0052] 6. Control unit;

[0053] 7. Photovoltaic panels;

[0054] 8. The area to be installed;

[0055] 81. Install sub-regions. Detailed Implementation

[0056] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this invention in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this invention and are therefore intended only as examples, not as limiting the scope of protection of this invention.

[0057] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this invention, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0058] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit the invention.

[0059] In the description of this invention, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " generally indicates that the preceding and following objects have an "or" logical relationship.

[0060] In this invention, terms such as “first” and “second” are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy, or order between these entities or operations.

[0061] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this invention is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0062] Similar to the understanding in the Examination Guidelines, in this invention, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments of this invention, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0063] In the description of the embodiments of the present invention, the spatial related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of the present invention or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0064] Unless otherwise explicitly stated or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this invention, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this invention according to the specific circumstances.

[0065] Please see Figures 1 to 3In a first aspect, this embodiment provides a photovoltaic panel 7 installation device, including a first moving platform 1, a moving component 2, a clamping component 3, a second moving platform 4, a positioning module, a detection module 5, and a control unit 6; the moving component 2 is disposed on the first moving platform 1, and the moving component 2 has a moving end 221; the clamping component 3 is disposed on the moving end 221, and the clamping component 3 is used to clamp the photovoltaic panel 7; the second moving platform 4 is used to place the photovoltaic panel 7, and the second moving platform 4 is spaced apart from the first moving platform 1 along a first moving direction of the first moving platform 1, and the second moving platform 4 and the first moving platform 1 can move along the same motion trajectory;

[0066] A positioning module is positioned between the moving component 2 and the first moving platform 1. The positioning module is used to collect first geographical location information, which includes the coordinate information of the first moving platform 1. A detection module 5 is positioned on the first moving platform 1. The detection module 5 is used to acquire relative position information, which includes first relative position information and second relative position information. The first relative position information includes the relative distance and spatial position between the photovoltaic panel 7 and the clamping component 3. The second relative position information includes the relative distance and spatial position between the first moving platform 1 and the area to be installed 8. A control unit 6 is electrically connected to the positioning module and the detection module 5. It is used to generate a control strategy for the moving component 2 and the clamping component 3 based on the first geographical location information and the relative position information, and to control the clamping component 3 to clamp the photovoltaic panel 7 and install it according to the control strategy.

[0067] In this embodiment, the first mobile platform 1 and the second mobile platform 4 have the same structure. Specifically, the first mobile platform 1 includes a first placement table and a first moving component 2. The first moving component 2 includes a first driving unit, two first transmission shafts, and four first rollers. Each pair of first rollers is symmetrically arranged at both ends of a first transmission shaft and is connected to the first driving unit. The first placement table is placed above the four first rollers. The first driving unit can drive the four first rollers to rotate, thereby realizing the movement of the first placement table. The second mobile platform 4 includes a second placement table and a second moving component 2. The second moving component 2 includes a second driving unit, two second transmission shafts, and four second rollers. Each pair of second rollers is symmetrically arranged at both ends of a second transmission shaft and is connected to the second driving unit. The second placement table is placed above the four second rollers. The second driving unit can drive the four second rollers to rotate, thereby realizing the movement of the second placement table.

[0068] The first mobile platform 1 and the second mobile platform 4 are spaced apart along a first direction of movement. This means that the first mobile platform 1 and the second mobile platform 4 are positioned one in front of the other along their travel path, which includes both forward and backward movement. The first direction of movement is preferably backward, meaning the second mobile platform 4 is positioned behind the first mobile platform 1. This arrangement allows the first mobile platform 1 to integrate only the installation equipment, while the second mobile platform 4 is used to hold the photovoltaic panels 7. This method ensures that the functions of the first mobile platform 1 and the second mobile platform 4 are independent, avoiding the problem of the center of gravity of the entire photovoltaic panel 7 installation equipment shifting as the number of photovoltaic panels 7 gradually decreases.

[0069] In this embodiment, the moving component 2 can be a robotic arm, specifically a six-axis robotic arm. The moving end 221 of the moving component 2 is the end of the robotic arm. A clamping component 3 is provided at the moving end 221. The clamping component 3 can be an existing device for clamping photovoltaic panels 7, or it can be the clamping component 3 described later. In this embodiment, the clamping component 3 can move to the top of the second moving platform 4 under the drive of the moving component 2, clamp the photovoltaic panel 7 placed on the top of the second moving platform 4, and move the photovoltaic panel 7 to the frame to be installed, thus realizing the installation process of the photovoltaic panel 7.

[0070] In this embodiment, the positioning module is located between the mobile component 2 and the first mobile platform 1. The positioning module can be an RTK encoder, which is a device used for measurement and positioning. It receives signals from the Global Positioning System (GPS) or other satellite navigation systems and communicates with a base station to provide high-precision location information. Setting up the positioning module enables the real-time positioning of the first mobile platform 1.

[0071] The specific details of the detection module 5 will be described later. The detection module 5 can collect environmental data around the first mobile platform 1, including the relative position information of the photovoltaic panel 7 on the second mobile platform 4 relative to the clamping component 3, and the relative position information of the first mobile platform 1 relative to the area to be installed 8, which facilitates real-time planning of the movement path of the clamping component 3.

[0072] The control unit 6 can be integrated with the positioning module. The control unit 6 generates a control strategy for the moving component 2 and the clamping component 3 based on the first geographical location information and the relative position information. For details of the control strategy, please refer to the following description of the photovoltaic panel 7 installation method. Through this control strategy, the clamping component 3 can realize the clamping and installation of the photovoltaic panel 7.

[0073] In some embodiments, the detection module 5 includes a first radar device 51, a second radar device 52, a first vision sensor 53, and a second vision sensor 54. The first radar device 51 is disposed in the second moving direction of the first moving platform 1 and is used to acquire first position information, which is the position information of the first moving platform 1 in the installation area 8. The second radar device 52 is disposed in the first moving direction of the first moving platform 1 and is used to acquire second position information, which is the position information of the second moving platform 4 in the installation area 8. The first vision sensor 53 is disposed on the moving component 2 and is used to collect first image information, which includes an image of the photovoltaic panel 7. The second vision sensor 54 is disposed on the first moving platform 1 and is used to collect second image information, which includes an image of the installation area 8. The control unit 6 is electrically connected to the first radar device 51, the second radar device 52, the first vision sensor 53, and the second vision sensor 54 and is used to generate relative position information of the photovoltaic panel 7 relative to the clamping component 3 based on the first position information, the second position information, the first image information, and the second image information.

[0074] In this embodiment, the first radar device 51 and the second radar device 52 have the same structure. The first radar device 51 and the second radar device 52 can be infrared radar, lidar, etc., and this embodiment does not impose any limitations on this. The difference between the first radar device 51 and the second radar device 52 lies in their different positions on the first mobile platform 1. The first radar device 51 is positioned in the second moving direction of the first mobile platform 1, and the second radar device 52 is positioned in the first moving direction of the first mobile platform 1. It should be noted that the first moving direction is the backward direction of the first mobile platform 1 in the working state, and the second moving direction is the forward direction of the first mobile platform 1 in the working state. The working state refers to the operation of installing photovoltaic panels 7 in an area where photovoltaic panels 7 are not installed. In the working state, the area in front of the first mobile platform 1 is an area where photovoltaic panels 7 are not installed.

[0075] In this embodiment, the first radar device 51 can collect first position information, which is the position information of the first mobile platform 1 in the installation area 8. Specifically, it includes the spatial position dimensions between the first mobile platform 1 and the installation sub-area 81 in the installation area 8, including the tilt angle of the current installation sub-area 81, the horizontal dimension at the distance from the first radar device 51 of the first mobile platform 1, and the vertical height dimension. The installation sub-area 81 is the area in the installation area 8 where a single photovoltaic panel 7 is installed.

[0076] The second radar device 52 can collect second position information, which is the position information of the second mobile platform 4 in the area to be installed 8, specifically including the horizontal distance between the second mobile platform 4 and the current second radar device 52.

[0077] The first vision sensor 53 and the second vision sensor 54 can be the same type of vision sensor, specifically, the vision sensor can be a CCD camera. The first vision sensor 53 is set on the moving component 2, and can be set at any part of the moving component 2. The specific setting position will be detailed later. The first vision sensor 53 can directly acquire first image information containing the photovoltaic panel 7. It should be noted that the image of the photovoltaic panel 7 in the first image information can be an image of the photovoltaic panel 7 already installed in the installation area 8, or an image of the photovoltaic panel 7 to be installed on the second moving platform 4. Here, the photovoltaic panel 7 in the acquired first image information has different referential meanings depending on the pose of the moving component 2.

[0078] The second vision sensor 54 is disposed on the first moving platform 1. Specifically, the second vision sensor 54 can be disposed in the second moving direction of the first moving platform 1 or on the side of the first moving platform 1. The second image information collected by the second vision sensor 54 includes the image of the area to be installed 8, specifically including the image information of the current installation sub-area 81. The second image information can verify the first position information of the first radar device 51 to ensure accurate identification of the position of the installation sub-area 81. Preferably, the second image information can also be the image after the photovoltaic panel 7 is installed in the current installation sub-area 81. That is, after the clamping component 3 has installed the photovoltaic panel 7, the second vision sensor 54 will collect the second image information again to confirm whether the installation of the photovoltaic panel 7 is correct.

[0079] In summary, the first position information includes the position information of the installation sub-region 81 in the installation area 8 relative to the first mobile platform 1, the second position information includes the current position information of the second mobile platform 4 relative to the first mobile platform 1, the first image information includes an image of the photovoltaic panel 7 after installation or an image of the second mobile platform 4 to be installed, and the second image information includes an image of the installation sub-region 81 of the photovoltaic panel 7 after installation or an image of the installation sub-region 81 of the installation area 8. The control unit 6 is electrically connected to the first radar device 51, the second radar device 52, the first vision sensor 53, and the second vision sensor 54, and can generate the relative position information of the photovoltaic panel 7 relative to the clamping assembly 3, i.e., the first relative position information, and the relative position information of the installation area 8 and the first mobile platform 1, i.e., the second relative position information.

[0080] Please see Figure 3In some embodiments, the mobile component 2 includes a first robotic arm 21 and a second robotic arm 22. The first robotic arm 21 is mounted on the first mobile platform 1 and is connected to the second robotic arm 22 via a transmission connection. The mobile end 221 is mounted on the second robotic arm 22.

[0081] In this embodiment, the first robotic arm 21 specifically includes four first sub-robotic arm units, each of which has a different length. At least one pair of adjacent first sub-robotic arm units are connected by a triangular connector, and the stability of the triangle is used to achieve a stable connection between the two first sub-robotic arms.

[0082] The second robotic arm 22 is a multi-degree-of-freedom, multi-axis robotic arm, specifically an existing robotic arm product such as IRB2600, KR600, or R2830. A first vision sensor 53 is provided between the second robotic arm 22 and the first robotic arm 21, and a moving end 221 is located at the end of the second robotic arm 22.

[0083] The specific structure of the mobile component 2 shown in this embodiment is a first robotic arm 21 with low degrees of freedom and a second robotic arm 22 with high degrees of freedom. This method can increase the operating space of the mobile component 2, making it more suitable for large-size photovoltaic installation environments. At the same time, it reduces the manufacturing cost of the mobile component 2 and achieves high-precision installation of the photovoltaic panel 7. The second robotic arm 22 compensates for the movement accuracy of the first robotic arm 21, thereby improving the installation accuracy.

[0084] Please see Figure 3 In some embodiments, the clamping assembly 3 includes a clamping frame 31, at least one clamping suction cup 32, and a pressure sensor. The clamping frame 31 is disposed on the moving end 221. The clamping suction cup 32 is disposed on the clamping frame 31 and is used to adsorb the photovoltaic panel 7. The pressure sensor is disposed on the clamping frame 31 and is used to collect the clamping pressure value of the clamping suction cup 32. The pressure sensor is also electrically connected to the control unit 6, which is used to adjust the moving speed of the moving assembly 2 according to the pressure sensor.

[0085] In this embodiment, the clamping frame 31 is a component for fixing and holding the suction cup 32 and the pressure sensor. Specifically, the shape of the clamping frame 31 can be formed by splicing multiple rods or by machining a flat plate. In this embodiment, it is preferred to use a flat plate. This method allows the air passage structure required for clamping the suction cup 32 to be directly integrated inside the flat plate, making the structure of the entire clamping assembly 3 simple and reducing the influence of the external environment on the clamping assembly 3.

[0086] In this embodiment, the number of clamping suction cups 32 can be one or more, depending on the suction mass of the clamping suction cups 32. Preferably, the number of clamping suction cups 32 is four, which are circumferentially distributed on the clamping frame 31. The suction range of the clamping suction cups 32 falls within the surface of a single photovoltaic panel 7, which can achieve traceless installation of the photovoltaic panel 7.

[0087] A pressure sensor is mounted on the clamping frame 31, which detects the vacuum level of the clamping suction cup 32. When the clamping suction cup 32 needs to pick up the photovoltaic panel 7, the vacuum level detected by the pressure sensor must reach a certain value before the photovoltaic panel 7 can be lifted; otherwise, the photovoltaic panel 7 may fall during the picking process. When the photovoltaic panel 7 is placed, the pressure sensor detects that the vacuum level inside the clamping suction cup 32 has reached 0, indicating that the vacuum state inside the clamping suction cup 32 has been released. Only then will the clamping suction cup 32 be driven to detach from the photovoltaic panel 7 to avoid the photovoltaic panel 7 being lifted again due to residual suction, which could cause placement deviation.

[0088] Please see Figure 4 In a second aspect, this embodiment also provides a photovoltaic panel 7 installation method, applicable to the photovoltaic panel 7 installation equipment described in the first aspect. The detection module 5 includes a first radar device 51, a second radar device 52, a first vision sensor 53, and a second vision sensor 54. The method includes:

[0089] S11. Obtain the first geographical location information and the area to be installed, and generate the movement path of the first mobile platform. The area to be installed includes multiple installation sub-areas, and each photovoltaic panel corresponds to one installation sub-area.

[0090] S12. Obtain the second position information collected by the second radar device and the first image information collected by the first vision sensor, generate the second geographical location information corresponding to the second mobile platform, obtain the initial position information of the current mobile terminal based on the first image information, and generate the mobile component access strategy based on the initial position information and the second geographical location information. The access strategy includes the spatial movement direction, movement distance and movement speed of the mobile terminal.

[0091] S13. Control the moving component according to the picking strategy so that the clamping component moves to the photovoltaic panel to be installed and clamps the photovoltaic panel;

[0092] S14. Obtain the first location information collected by the first radar device and the second image information collected by the second vision sensor, and obtain the third geographical location information corresponding to the installation sub-area based on the first location information and the second image information.

[0093] S15. Generate a placement strategy for the mobile component based on the third geographic location information, and control the mobile component according to the placement strategy to move the clamping component to the installation sub-area for the installation of the photovoltaic panel. The placement strategy includes the spatial placement direction, placement distance and placement speed of the mobile end.

[0094] In this embodiment, the first geographic location information includes the geographic coordinates of the first mobile platform 1. The positioning module can perform real-time positioning of the specific location of the first mobile platform 1. The installation area 8 can be obtained by pre-inputting an offline map. Preferably, the installation area 8 can be obtained through a satellite map. For example, the user pre-inputs the approximate geographic coordinates of the installation area 8, and the installation area 8 is further confirmed through a satellite map. Combined with the first geographic location information, the precise positioning of the first mobile platform 1 and the installation area 8 is achieved, generating the movement path of the first mobile platform 1. It should be noted that the movement path can include installation point information of multiple installation sub-areas 81. This method facilitates the control of the movement status of the first mobile platform 1.

[0095] In this embodiment, the installation area 8 includes multiple installation sub-areas 81. It can be understood that the installation area 8 represents the entire photovoltaic power generation area, while the installation sub-area 81 refers to the installation area of ​​a single photovoltaic panel 7. The descriptions in the preceding and following text shall be based on this.

[0096] The second location information and the first image information are acquired to generate the second geographical location information corresponding to the second mobile platform 4. Here, the second location information is the second location information collected by the second radar device 52. The second location information contains the relative position information between the second mobile platform 4 and the first mobile platform 1. The second geographical location information can be calculated based on the second location information and the first geographical location information. The first image information includes the image information of the photovoltaic panel 7 on the second mobile platform 4, the second mobile platform 4, and the current position information of the clamping component 3, which are collected when the mobile component 2 moves above the second mobile platform 4. The control unit 6 obtains the initial position information of the current mobile terminal 221 through the first image information. The initial position information is also the position information of the clamping component 3 relative to the uppermost photovoltaic panel 7 on the second mobile platform 4. The retrieval strategy of the mobile component 2 is generated through the initial position information and the second geographical location information. The retrieval strategy includes the spatial movement direction, movement distance, and movement speed of the mobile terminal 221. Here, the retrieval strategy should be understood as follows: the movement of the mobile terminal 221 is the movement of the clamping component 3, and the retrieval strategy is the spatial clamping path planning of the clamping component 3 and the clamping speed, so as to avoid the photovoltaic panel 7 from becoming loose from the clamping component 3 due to excessive clamping speed, which would cause damage to the photovoltaic panel 7.

[0097] In this embodiment, the first location information is the location information of the first mobile platform 1 relative to the installation sub-region 81, and the second image information displays the relative positional relationship between the installation sub-region 81 and the first mobile platform 1 in image form. Obtaining the third geographical location information corresponding to the installation sub-region 81 based on the first location information and the second image information should be understood as follows: the area to be installed 8 can be directly obtained through satellite cloud imagery, but the specific coordinates of the installation sub-region 81 can be obtained by conversion using the first geographical location information, the first location information, and the second image information of the first mobile platform 1.

[0098] The placement strategy for the moving component 2 is generated based on the third geographic location information. This strategy involves planning the placement path of the clamping component 3 while it is already clamping the photovoltaic panel 7, and controlling the placement speed. The placement speed refers to the speed at which the clamping component 3 releases the photovoltaic panel 7 when it approaches the edge of the installation sub-area 81. Specifically, the generation of the placement strategy also requires combining the third geographic location information with the position information of the clamping component 3 after it has clamped the photovoltaic panel 7.

[0099] The installation method shown in this embodiment can obtain the first geographical location information of the first mobile platform 1 and the geographical coordinates of the area 8 to be installed in real time, and realize the real-time calibration of the movement path of the first mobile platform 1. At the same time, the method shown in this embodiment can realize the installation of photovoltaic panels 7, saving manpower.

[0100] In some embodiments, the method further includes:

[0101] Once the photovoltaic panels are installed, the first and second mobile platforms are moved to the next installation sub-area according to the moving path.

[0102] In some embodiments, the area to be installed is obtained through the following steps:

[0103] Acquire an image of a region centered on the first geographic location information and with a preset size as the radius from a satellite cloud image;

[0104] Identify regions in the region image that meet the first preset parameters and set them as the regions to be installed.

[0105] It should be noted that in this embodiment, the preset size can be manually input or obtained by statistically calculating the size of commonly used power generation areas from existing photovoltaic power generation areas. A regional image is obtained with the first geographical location information as the center and the preset size as the radius, and the power generation areas in the regional image are identified. In this embodiment, the first preset parameter is also the parameter information of the power generation area when no photovoltaic panels 7 are installed. For example, taking the power generation area as a rectangle, four first positioning reference objects are preset at the four corners of the power generation area where photovoltaic panels 7 are to be installed. The size and shape of the first positioning reference objects are input into the control unit 6 as the first preset parameter. Then, the rectangular area enclosed by the four first preset reference objects identified in the regional image is the area to be installed 8.

[0106] The steps shown in this embodiment can directly use satellite data to obtain information about the area to be installed 8, avoiding the problem that changes in the shape and position of the area to be installed 8 caused by offline maps, which would prevent the installation equipment from accurately installing the photovoltaic panels 7.

[0107] Please see Figure 5 In some embodiments, the installation sub-region is obtained through the following steps:

[0108] S21. Obtain the location information of the first mobile platform in the area to be installed based on the first geographical location information;

[0109] S22. Obtain first location information, generate a point cloud image based on the first location information and orientation information, and obtain the area in the point cloud image that meets the second preset parameters, which is recorded as the installation sub-region.

[0110] S23. Generate multiple installation coordinate points based on the orientation information, the second preset parameters, and the movement path;

[0111] S24. Control the installation equipment to install the photovoltaic panels according to multiple installation coordinate points.

[0112] In this embodiment, the orientation information refers to the orientation of the first mobile platform 1 in the installation area 8, such as the northeast corner or northwest corner. Alternatively, it can be displayed in combination with latitude and longitude information. Preferably, the installation area 8 is divided into multiple spaced and parallel installation units. Each installation unit has multiple side-by-side installation sub-areas 81. At this time, the installation sub-areas 81 have not yet been identified; they are introduced only to facilitate the understanding of the installation units. The orientation information is expressed in terms of installation units. For ease of distinction, two adjacent installation units are referred to as the first installation unit and the second installation unit. The orientation information can be obtained as follows: the first mobile platform 1 is placed between the first installation unit and the second installation unit and is close to the installation start position of the first installation unit. The first installation unit is located at the lower left corner of the installation area 8. Specifically, the above orientation description can be converted into data to facilitate the identification and conversion by the control unit 6. And so on.

[0113] The first location information is the location information collected by the first radar device 51, including the information of the area to be installed 8 and the location information of the area to be installed 8 relative to the first mobile platform 1. In this embodiment, a point cloud image is generated using the first location information and the orientation information, and the area in the point cloud image that meets the second preset parameters is obtained and recorded as the installation sub-area 81. Here, the second preset parameters specifically refer to the border-related parameters of the installation sub-area 81. For example, the image area that presents a regular arrangement in the point cloud image is identified. If the image area meets the border size, the image area is recorded as the border, and the area inside the border is recorded as the installation sub-area 81.

[0114] Multiple installation coordinate points are generated based on the orientation information, the second preset parameters, and the movement path, so that the first mobile platform 1 can move accurately to the next installation sub-area 81.

[0115] In a third aspect, this embodiment also provides a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the method described in the first aspect.

[0116] In a fourth aspect, this embodiment also provides an electronic device, including a memory and a processor, the memory being used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method described in the first aspect.

[0117] The storage media / memory include, but are not limited to: RAM, ROM, magnetic disks, magnetic tapes, optical discs, flash memory, USB flash drives, portable hard drives, memory cards, memory sticks, network server storage, and network cloud storage. The processors include, but are not limited to, CPUs (Central Processing Units), GPUs (Graphics Processing Units), and MCUs (Microprocessors).

[0118] In the above technical solution, the first mobile platform 1 is equipped with a mobile component 2 and a clamping component 3, and the second mobile platform 4 is equipped with a photovoltaic panel 7. The clamping component 3 can move to the second mobile platform 4 to clamp the photovoltaic panel under the drive of the mobile component 2. The first mobile platform 1 is also equipped with a positioning module, a detection module 5, and a control unit 6. The positioning module can obtain the first geographical location information of the photovoltaic panel 7 installation device in real time. The detection module 5 can detect the relative position information between the photovoltaic panel 7 and the clamping component 3. The control unit 6 can generate a control strategy for the mobile component 2 and the clamping component 3 based on the first geographical location information and the relative position information, and then control the clamping component 3 to clamp the photovoltaic panel 7 and perform the operation through the control strategy. During the installation process, this technical solution, by adding a positioning module, can obtain the first geographical location information of the first mobile platform 1 in real time and calculate the second geographical location information of the second mobile platform 4 based on the relative position information, and generate a corresponding control strategy to clamp the photovoltaic panel 7. At the same time, the photovoltaic panel 7 is set on the second mobile platform 4. The second mobile platform 4 and the first mobile platform 1 are independent of each other. The moving component 2 and the clamping component 3 on the first mobile platform 1 will not be affected by the center of gravity shift as the number of photovoltaic panels 7 to be installed gradually decreases. In addition, the relative position information between the second mobile platform 4 and the first mobile platform 1 is obtained through the detection module 5, which facilitates the precise clamping of the photovoltaic panel 7.

[0119] Finally, it should be noted that although the above embodiments have been described in the description and drawings of this invention, this should not limit the scope of patent protection of this invention. Any technical solutions that are based on the essential concept of this invention, utilize the content described in the description and drawings of this invention to make equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this invention.

Claims

1. A photovoltaic panel mounting apparatus, characterized by, include: First mobile platform; A mobile component is disposed on the first mobile platform, and the mobile component has a mobile terminal; A clamping assembly is disposed on the mobile end, the clamping assembly being used to clamp a photovoltaic panel; The second mobile platform is used to place the photovoltaic panel. The second mobile platform is spaced apart from the first mobile platform along the first moving direction of the first mobile platform. The second mobile platform and the first mobile platform can move along the same motion trajectory. A positioning module is disposed between the mobile component and the first mobile platform. The positioning module is used to collect first geographic location information, which includes the coordinate information of the first mobile platform. A detection module is installed on the first mobile platform. The detection module is used to acquire relative position information, which includes first relative position information and second relative position information. The first relative position information includes the relative distance and spatial position between the photovoltaic panel and the clamping component. The second relative position information includes the relative distance and spatial position between the first mobile platform and the area to be installed. The control unit, electrically connected to the positioning module and the detection module, is used to generate a control strategy for the moving component and the clamping component based on the first geographical location information and the relative position information, and to control the clamping component to clamp the photovoltaic panel and install it according to the control strategy. The detection module includes: A first radar device is disposed in the second direction of movement of the first mobile platform, and is used to acquire first position information, wherein the first position information is the position information of the first mobile platform in the area to be installed; The second radar device is disposed in the first direction of movement of the first mobile platform and is used to acquire second position information, which is the position information of the second mobile platform in the area to be installed. A first visual sensor is disposed on the moving component for acquiring first image information, the first image information including an image of the photovoltaic panel; A second visual sensor, mounted on the first mobile platform, is used to acquire second image information, including an image of the area to be installed. The control unit is electrically connected to the first radar device, the second radar device, the first vision sensor, and the second vision sensor, and is used to generate the relative position information of the photovoltaic panel relative to the clamping assembly based on the first position information, the second position information, the first image information, and the second image information. The clamping assembly includes: A clamping frame is provided on the mobile end; At least one clamping suction cup is disposed on the clamping frame, and the clamping suction cup is used to adsorb the photovoltaic panel; A pressure sensor is disposed on the clamping frame to collect the clamping pressure value of the clamping suction cup. The pressure sensor is also electrically connected to the control unit, which is used to adjust the moving speed of the moving component according to the pressure sensor.

2. The photovoltaic panel installation apparatus of claim 1, wherein, The mobile component includes a first robotic arm and a second robotic arm. The first robotic arm is mounted on the first mobile platform and is connected to the second robotic arm via a transmission connection. The mobile end is mounted on the second robotic arm.

3. A method of installing a photovoltaic panel, characterized in that, The method applicable to the photovoltaic panel installation equipment according to claim 1 or 2 includes: The system obtains the first geographical location information and the area to be installed, and generates the movement path of the first mobile platform. The area to be installed includes multiple installation sub-areas, and each photovoltaic panel corresponds to one installation sub-area. The system acquires second location information collected by the second radar device and first image information collected by the first visual sensor, generates second geographic location information corresponding to the second mobile platform, obtains initial location information of the current mobile terminal based on the first image information, and generates an acquisition strategy for the mobile component based on the initial location information and the second geographic location information. The acquisition strategy includes the spatial movement direction, movement distance, and movement speed of the mobile terminal. The moving component is controlled according to the acquisition strategy to move the clamping component to the photovoltaic panel to be installed and clamp the photovoltaic panel; Acquire first location information collected by the first radar device and second image information collected by the second visual sensor, and obtain third geographical location information corresponding to the installation sub-area based on the first location information and the second image information; A placement strategy for the mobile component is generated based on the third geographic location information. The mobile component is controlled according to the placement strategy to move the clamping component to the installation sub-area for installing the photovoltaic panel. The placement strategy includes the spatial placement direction, placement distance, and placement speed of the mobile component.

4. The photovoltaic panel installation method of claim 3, wherein, The method further includes: When the photovoltaic panels are installed, the first moving platform and the second moving platform are controlled to move to the next installation sub-area according to the moving path.

5. The photovoltaic panel installation method of claim 3, wherein, The area to be installed is obtained through the following steps: Acquire an image of a region centered on the first geographic location information and with a preset size as the radius from a satellite cloud image; Identify regions in the region image that meet the first preset parameters and set them as regions to be installed.

6. The photovoltaic panel installation method of claim 5, wherein, The installation sub-region is obtained through the following steps: The location information of the first mobile platform in the area to be installed is obtained based on the first geographical location information; Obtain first location information, generate a point cloud image based on the first location information and the orientation information, and obtain the region in the point cloud image that meets the second preset parameters, which is recorded as the installation sub-region. Multiple installation coordinate points are generated based on the orientation information, the second preset parameters, and the movement path; The installation equipment is controlled to install the photovoltaic panels according to multiple installation coordinate points.

7. A computer readable storage medium having stored thereon computer program instructions, wherein, The computer program instructions, when executed by a processor, implement the method as described in any one of claims 3-6.

8. An electronic device comprising a memory and a processor, characterized in that The memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method as described in any one of claims 3-6.

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