Photovoltaic panel paving device and photovoltaic panel posture adjustment method

Abstract

The present application provides a photovoltaic panel paving device and a photovoltaic panel posture adjustment method. Among them, the photovoltaic panel posture adjustment method includes: obtaining the horizontal distance and height difference between at least two measurement points on the edge of the photovoltaic panel and the corresponding edge of the paving position; calculating the horizontal displacement A and the first angle deviation α according to the horizontal distance; calculating the second angle deviation β according to the height difference; adjusting the posture of the photovoltaic panel according to the horizontal displacement A, the first angle deviation α and the second angle deviation β to align the photovoltaic panel with the paving position. The present application improves the position accuracy of the photovoltaic panel by detecting and adjusting the posture of the photovoltaic panel before placing it in the paving position, reduces the problem of emptying or collision of the photovoltaic panel caused by position error, and provides a basis for automating the entire process of photovoltaic panel paving.

Description

Technical Field

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

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

[0003] Since the position accuracy of the photovoltaic panels after transportation is difficult to ensure, it is impossible to directly use equipment to transport the photovoltaic panels and place them on the photovoltaic brackets, which may easily cause interference or falling due to position errors, resulting in damage to the photovoltaic panels. Summary of the invention

[0004] The present application provides a photovoltaic panel installation device and a photovoltaic panel posture adjustment method that are beneficial to improving the position accuracy of photovoltaic panels.

[0005] In a first aspect, an embodiment of the present application provides a photovoltaic panel posture adjustment method, the photovoltaic panel posture adjustment method is used to adjust the relative position of the photovoltaic panel and the paving position of the photovoltaic bracket, and the photovoltaic panel posture adjustment method includes:

[0006] Obtaining the horizontal distance and height difference between at least two measuring points on the edge of the photovoltaic panel and the corresponding edge of the paving position;

[0007] Calculate the horizontal displacement A and the first angle deviation α according to the horizontal distance; calculate the second angle deviation β according to the height difference;

[0008] The posture of the photovoltaic panel is adjusted according to the horizontal displacement A, the first angle deviation α and the second angle deviation β so that the photovoltaic panel is aligned with the paving position.

[0009] According to the first aspect, in a possible implementation manner, the photovoltaic panel posture adjustment method includes:

[0010] A measuring component is provided, the measuring component includes at least two measuring modules arranged at intervals, the measuring module includes a driving unit and a distance measuring unit, the driving unit is used to drive the distance measuring unit to move in a horizontal direction to obtain edge position information of the photovoltaic panel and edge position information of the paving position, and calculate the horizontal distance; the distance measuring unit is used to obtain the height difference between the edge of the photovoltaic panel and the corresponding edge of the paving position;

[0011] Wherein, the measurement point position of the edge of the photovoltaic panel corresponds to the installation position of the measurement module.

[0012] According to the first aspect, in a possible implementation manner, obtaining the horizontal distance and height difference between at least two measurement points on the edge of the photovoltaic panel and the corresponding edge of the paving position includes:

[0013] Controlling the driving unit to drive the distance measuring unit to move in a horizontal direction, and acquiring the travel of the driving unit and the detection result of the distance measuring unit in real time;

[0014] When the distance measuring unit detects the edge of the paving position, the stroke of the driving unit is the horizontal distance, and the detection result of the distance measuring unit is the height difference.

[0015] According to the first aspect, in a possible implementation manner, after controlling the driving unit to drive the ranging unit to move in the horizontal direction and acquiring the travel of the driving unit and the detection result of the ranging unit in real time, the method further includes:

[0016] Establish and store the corresponding relationship between the travel and the test results;

[0017] When the difference between the detection result of the distance measuring unit and the previous detection result is greater than a preset range, determining the current detection result as a target detection result, and controlling the driving unit to move a preset distance;

[0018] When the difference between the target detection result and the next two detection results is within a preset range, the target detection result is the height difference, and the travel corresponding to the target detection result is the horizontal distance.

[0019] According to the first aspect, in a possible implementation manner, the measurement component includes a first measurement module and a second measurement module;

[0020] The step of obtaining the horizontal distance and height difference between at least two measurement points on the edge of the photovoltaic panel and the corresponding edge of the paving position comprises:

[0021] The first measuring module acquires a first horizontal distance L1 and a first height difference H1, and the second measuring module acquires a second horizontal distance L2 and a second height difference H2; the horizontal distance includes the first horizontal distance L1 and the second horizontal distance L2, and the height difference includes the first height difference H1 and the second height difference H2;

[0022] The calculating of the horizontal displacement A and the first angle deviation α according to the horizontal distance; and the calculating of the second angle deviation β according to the height difference include:

[0023] A horizontal displacement A is calculated according to the first horizontal distance L1 and the second horizontal distance L2, a first angle deviation α is calculated according to the first horizontal distance L1 and the second horizontal distance L2, and a second angle deviation β is calculated according to the first height difference H1 and the second height difference H2.

[0024] According to the first aspect, in a possible implementation manner, the first angle deviation α satisfies: α=arctan(L1-L2) / B.

[0025] The second angular deviation β satisfies: β=arctan(H1-H2) / B.

[0026] Wherein, B is the distance between two ranging units.

[0027] According to the first aspect, in a possible implementation manner, the horizontal displacement A satisfies: A=k1×L1+K2×L2.

[0028] Wherein, K1 and K2 are constant coefficients determined according to the installation positions of the two measurement modules, and K1+K2=1.

[0029] According to the first aspect, in a possible implementation manner, the calculating the horizontal displacement A and the first angle deviation α according to the horizontal distance; and the calculating the second angle deviation β according to the height difference include:

[0030] Establish a three-dimensional coordinate system;

[0031] The edge of the photovoltaic panel is used as the Y-axis reference line; the position of the measuring point is used as the Y coordinate, the horizontal distance measured by the measuring module corresponding to the measuring point is used as the X coordinate, and the measured height difference is used as the Z coordinate to generate scattered points;

[0032] Fitting the scattered points to obtain a fitting line;

[0033] The angle formed by the fitting line and the baseline in the XY plane is measured as the first angle deviation α, and the angle formed by the fitting line and the baseline in the YZ plane is measured as the second angle deviation β; the shortest distance between the projection of the rotation center of the photovoltaic panel on the baseline and the fitting line is measured as the horizontal displacement A.

[0034] In a second aspect, the embodiment of the present application further provides a photovoltaic panel paving device, wherein the photovoltaic panel paving device comprises:

[0035] A gripping assembly for gripping and moving the photovoltaic panel;

[0036] A measuring component, used to obtain the horizontal distance and height difference between at least two points on the edge of the photovoltaic panel and the corresponding edge of the paving position of the photovoltaic support;

[0037] A controller, wherein the gripping assembly and the measuring assembly are both electrically connected to the controller, and the controller is used to calculate a horizontal displacement A and a first angle deviation α according to the horizontal distance; calculate a second angle deviation β according to the height difference; and control the gripping assembly to move and / or rotate the photovoltaic panel according to the horizontal displacement A, the first angle deviation α, and the second angle deviation β to adjust the posture of the photovoltaic panel so that the photovoltaic panel is aligned with the paving position.

[0038] According to the second aspect, in a possible implementation, the measuring component includes at least two measuring modules arranged at intervals, each of the measuring modules includes a driving unit and a ranging unit, the driving unit and the ranging unit are both electrically connected to the controller, one end of the driving unit is connected to the grasping component, and the other end of the driving unit is connected to the ranging unit, the driving unit is used to drive the ranging unit to move in a horizontal direction to obtain the edge position of the photovoltaic panel and the corresponding edge position of the paving position to calculate the horizontal distance; the ranging unit is used to obtain the height difference between the edge of the photovoltaic panel and the edge of the paving position.

[0039] The photovoltaic panel paving device and photovoltaic panel posture adjustment method provided in the present application improve the position accuracy of the photovoltaic panels by detecting and adjusting the posture of the photovoltaic panels before they are placed in the paving position. While reducing the problems of photovoltaic panel emptying or collision caused by position errors, it also provides a basis for the full process automation of photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 This is a schematic structural diagram of the working state of a photovoltaic panel paving device in one embodiment of the present application;

[0042] Figure 2 is a schematic diagram of the deviation between the photovoltaic panel and the paving position in one embodiment of the present application;

[0043] Figure 3 is a schematic diagram of the deviation between the photovoltaic panel and the paving position in another embodiment of the present application;

[0044] Figure 4 is a flow chart of a method for adjusting the posture of a photovoltaic panel in the first embodiment of the present application;

[0045] Figure 5 is a schematic flow chart of a method for adjusting the posture of a photovoltaic panel in a second embodiment of the present application;

[0046] Figure 6 is a schematic flow chart of a method for adjusting the posture of a photovoltaic panel in a third embodiment of the present application;

[0047] Figure 7 It is a detailed flowchart of an example of step S20 in the first embodiment of the present application.

[0048] Reference numerals:

[0049] 10-grabbing component; 20-measuring component; 21-driving unit; 22-distance measuring unit; 200-photovoltaic panel; 300-photovoltaic bracket; 301-crossbeam; 302-purlin; 303-paving position; L1-first horizontal distance; L2-second horizontal distance; H1-first height difference; H2-second height difference; A-horizontal displacement; α-first angle deviation; β-second angle deviation. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0052] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0053] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0054] like Figure 1As shown, the present application provides a photovoltaic panel 200 paving device, which is used to install the photovoltaic panel 200 on the photovoltaic bracket 300, and the posture of the photovoltaic panel 200 can be adjusted. There is a paving position 303 on the photovoltaic bracket 300, and the photovoltaic bracket 300 may include a beam 301 and a purlin 302 fixed on the beam 301. The paving position 303 can be a virtual area division. For example, the paving position 303 can refer to the area between two purlins 302 on the photovoltaic bracket 300. When the photovoltaic panel 200 is placed on the photovoltaic bracket 300, the two sides of the photovoltaic panel 200 are overlapped on the purlins 302 on both sides. The purlins 302 can have a certain pitch angle, and the photovoltaic panel 200 also has a certain pitch angle when installed on the purlin 302, so that the photovoltaic panel 200 is installed in a suitable position to maximize the conversion of light energy to electrical energy.

[0055] In one embodiment, the photovoltaic panel 200 installation device includes a gripping component 10, a measuring component 20 and a controller (not shown).

[0056] The gripping assembly 10 is used to grip and move the photovoltaic panel 200. The gripping assembly 10 generally includes a mechanical arm, a clamp or a suction cup, and can firmly grip the photovoltaic panel 200 by clamping or adsorption. The gripping assembly 10 is electrically connected to the controller. Under the command of the controller, the gripping assembly 10 can freely move the photovoltaic panel 200 in three-dimensional space to adjust the posture of the photovoltaic panel 200. Specifically, it includes translation along the X-axis, Y-axis, and Z-axis and rotation around these axes to adjust the position and angle deviation of the photovoltaic panel 200.

[0057] The measuring component 20 is electrically connected to the controller and transmits the measurement data to the controller in real time. The measuring component 20 is used to obtain the horizontal distance and height difference between at least two points on the edge of the photovoltaic panel 200 and the corresponding edge of the paving position 303 of the photovoltaic bracket 300; and provide the controller with the data required to adjust the posture of the photovoltaic panel 200.

[0058] The controller receives the horizontal distance and height difference data from the measuring component 20, and performs calculation and analysis. Specifically, the controller calculates the horizontal displacement A and the first angle deviation α, that is, the yaw tilt angle deviation, based on the horizontal distance; and calculates the second angle deviation β, that is, the pitch tilt angle deviation, based on the height difference. Based on the calculated deviation values, including the horizontal displacement A, the first angle deviation α, and the second angle deviation β, a control instruction is generated and sent to the gripping component 10 through an electrical signal to control the gripping component 10 to move and / or rotate the photovoltaic panel 200 to adjust the posture of the photovoltaic panel 200 so that the photovoltaic panel 200 is aligned with the paving position 303. Among them, the alignment standard is that the photovoltaic panel 200 is located directly above the paving position 303, and the yaw tilt angle deviation and the pitch tilt angle deviation are within a preset error range.

[0059] The allowable error range of the yaw angle deviation and the pitch angle deviation can be 1°, 2°, 3°, 4°, 5°, etc. The specific error range is set according to the actual installation conditions, and this application does not limit this.

[0060] The present application improves the position accuracy of the photovoltaic panel 200 by detecting the deviation between the photovoltaic panel 200 and the paving position 303 before placing the photovoltaic panel 200 at the paving position 303, and adjusting the posture of the photovoltaic panel 200 so that the photovoltaic panel 200 is aligned with the paving position 303. This allows the gripping assembly 10 to move the photovoltaic panel 200 downward so that the photovoltaic panel 200 is safely and accurately placed on the photovoltaic bracket 300, avoiding the situation where the photovoltaic panel 200 is emptied or the photovoltaic panel 200 collides with the photovoltaic bracket 300 or the photovoltaic panel 200 installed on the photovoltaic bracket 300 due to the position error of the photovoltaic panel 200, and provides a basis for realizing the automation of the entire paving process of the photovoltaic panel 200.

[0061] Furthermore, it is possible to avoid the photovoltaic panel 200 installation device and workers working in the same area, thereby reducing errors and safety hazards caused by human factors.

[0062] In one embodiment, the measuring assembly 20 includes at least two measuring modules arranged at intervals, each measuring module including a driving unit 21 and a distance measuring unit 22. The driving unit 21 is used as a driving element, one end of the driving unit 21 is connected to the gripping assembly 10, and the other end is connected to the distance measuring unit 22. The driving unit 21 can drive the distance measuring unit 22 to move in the horizontal direction, that is, in the direction close to the edge of the paving position 303 according to the instructions of the controller. The distance measuring unit 22 is installed at the moving end of the driving unit 21, and is used to detect the vertical distance, that is, the height difference, between the edge of the photovoltaic panel 200 and the edge of the paving position 303. The distance measuring unit 22 may use infrared distance measurement, laser distance measurement, ultrasonic distance measurement or other high-precision distance measurement technology to ensure the accuracy of the measurement result. At the same time, the actual distance information between the edge of the photovoltaic panel 200 and the edge of the paving position 303 can be obtained according to the travel of the driving unit 21 when the distance measuring unit 22 detects the edge of the photovoltaic panel 200 and the edge of the paving position 303.

[0063] Among them, the driving unit 21 may include linear driving parts such as electric cylinders, pneumatic cylinders, and hydraulic cylinders. The driving unit 21 may also include a rotating motor and a transmission mechanism. The transmission mechanism may be a cam, a connecting rod, a gear rack, etc., which can convert rotation into linear motion. This application does not limit this.

[0064] Before starting the measurement, the driving unit 21 and the distance measuring unit 22 are in the initial state, that is, the mobile end of the driving unit 21 is located at the preset starting point, and the installation position of the distance measuring unit 22 is the mobile end of the driving unit 21. The controller sends an instruction to the driving unit 21 to control the driving unit 21 to move in the horizontal direction, usually in the direction close to the edge of the paving position 303. This instruction can include parameters such as the speed and acceleration of the movement to ensure the smoothness and accuracy of the movement process. During the movement of the driving unit 21, the controller will obtain the travel data of the driving unit 21 in real time. The travel data represents the distance moved by the distance measuring unit 22 from the initial position to the current position, that is, the actual moving distance in the horizontal direction. At the same time, the distance measuring unit 22 is also detecting the distance to the surrounding objects in real time, and the detection direction of the distance measuring unit 22 is perpendicular to the photovoltaic panel 200. When the distance measuring unit 22 detects the edge of the paving position 303, the controller will receive a specific signal, such as the distance value output by the distance measuring unit 22 suddenly changes or reaches a preset threshold. At this time, the controller can determine that the distance measuring unit 22 has reached the edge of the paving position 303. When the edge of the paving position 303 is detected, the controller records the travel of the driving unit 21 at this time as the horizontal distance, and records the detection result of the distance measuring unit 22 as the height difference.

[0065] It can be understood that when the driving unit 21 and the distance measuring unit 22 are both in the initial state, there may be a certain distance between the distance measuring unit 22 and the edge of the photovoltaic panel 200 .

[0066] In the first example, the distance measuring unit 22 is located inside the edge of the photovoltaic panel 200, that is, the projection of the distance measuring unit 22 along the vertical height direction is located on the photovoltaic panel 200. In the process of the driving unit 21 driving the distance measuring unit 22 to move, the distance measuring unit 22 will first detect the edge of the photovoltaic panel 200, and then detect the edge of the paving position 303. Specifically, as the driving unit 21 is driven, the distance measuring unit 22 starts to move and first detects the edge of the photovoltaic panel 200. At this time, the distance measuring unit 22 will detect a sudden change in the distance value, and the controller will receive this signal and record the stroke of the driving unit 21 at this time; the driving unit 21 continues to drive the distance measuring unit 22 to move, and when the distance measuring unit 22 detects the edge of the paving position 303, it will detect a sudden change in the distance value again, and the controller will receive this signal and record the stroke of the driving unit 21 at this time; therefore, the stroke difference of the driving unit 21 corresponding to the two distance value sudden change signals is the horizontal distance between the edge of the photovoltaic panel 200 and the edge of the paving position 303. Since the horizontal distance is calculated based on the relative value of the stroke of the driving unit 21, a slight error is allowed in the grasping component 10 when grasping the photovoltaic panel 200.

[0067] In the second example, the distance measuring unit 22 is located outside the edge of the photovoltaic panel 200, and the driving unit 21 and the distance measuring unit 22 are in the initial position. At this time, there is a known distance D (not shown in the figure) between the distance measuring unit 22 and the edge of the photovoltaic panel 200, and the driving unit 21 drives the distance measuring unit 22 to move until the edge of the paving position 303 is detected. In this process, the distance measuring unit 22 will detect a sudden change in the distance value, and the controller receives this signal and records the travel S of the driving unit 21 at this time (not shown in the figure). Then, the horizontal distance needs to be added to the measured value by the distance between the initial position of the distance measuring unit 22 and the edge of the photovoltaic panel 200. That is, the horizontal distance = S + D. In this example, it is necessary to ensure that the position of the grasping component 10 is consistent when grasping the photovoltaic panel 200, so that the distance D between the initial position of the distance measuring unit 22 and the edge of the photovoltaic panel 200 can approach a constant value, thereby improving the accuracy and reliability of the measurement.

[0068] The number of measurement modules may be 2, 3, 4 or even more, which is not limited in this application.

[0069] The grasping component 10 can adopt a structure commonly used in this field, and may include a manipulator, a connecting part, a suction cup, a driving device, etc. This application does not provide a detailed description of this. It is only necessary that the grasping component 10 can stably grasp the photovoltaic panel 200, and can move the photovoltaic panel 200 and adjust the angle of the photovoltaic panel 200.

[0070] like Figure 4 As shown, the present application also provides a photovoltaic panel posture adjustment method for adjusting the relative position of the photovoltaic panel and the paving position of the photovoltaic bracket. In a first embodiment, the photovoltaic panel posture adjustment method includes:

[0071] Step S10, obtaining the horizontal distance and height difference between at least two measuring points on the edge of the photovoltaic panel and the corresponding edge of the paving position;

[0072] The measurement points are virtual positions preset at the edge of the photovoltaic panel. The measurement points are fixed relative to the position of the grab components to ensure the accuracy and consistency of the measurement results. The selection of these points should take into account the shape, size and installation requirements of the photovoltaic panel to fully reflect the relative position relationship between the photovoltaic panel and the paving position.

[0073] The measuring component in the above photovoltaic panel paving device can be used to measure the horizontal distance and height difference. In this case, the measuring point is the projection position of the measuring component on the edge of the photovoltaic panel.

[0074] The paving position refers to the installation position of the photovoltaic panel on the photovoltaic bracket. In one example, the purlin on the photovoltaic bracket is used as a reference, and a paving position is formed between two adjacent purlins; in another example, the edge of the previous photovoltaic panel is used as a reference, and according to the preset paving trajectory, a virtual area consistent with the size of the photovoltaic panel is established in the blank area outside the edge of the previous photovoltaic panel as the paving position.

[0075] Step S20, calculating a horizontal displacement A and a first angle deviation α according to the horizontal distance; calculating a second angle deviation β according to the height difference;

[0076] By measuring the horizontal distance between the measuring point on the edge of the photovoltaic panel and the corresponding edge of the paving position and comparing it with the ideal position, the horizontal displacement, i.e., the horizontal displacement A, can be calculated. The horizontal displacement A directly guides the adjustment of the photovoltaic panel in the horizontal direction.

[0077] By using the horizontal distance and the relative position relationship between the photovoltaic panel and the paving position, through geometric calculation or algorithm analysis, the first angle deviation α of the photovoltaic panel on the horizontal plane relative to the paving position can be obtained. This angle deviation reflects the tilt or misalignment of the photovoltaic panel in the horizontal direction.

[0078] Similarly, by measuring the height difference between the measurement point on the edge of the photovoltaic panel and the corresponding edge of the paving position, and combining the size and installation requirements of the photovoltaic panel, the second angle deviation β of the photovoltaic panel in the vertical direction (i.e., height direction) relative to the paving position can be calculated. This angle deviation reflects the degree of inclination of the photovoltaic panel on the vertical plane.

[0079] Step S30, adjusting the posture of the photovoltaic panel according to the horizontal displacement A, the first angle deviation α and the second angle deviation β so that the photovoltaic panel is aligned with the paving position.

[0080] The controller generates a control instruction based on the calculated deviation value, including the horizontal displacement A, the first angle deviation α, and the second angle deviation β, and sends it to the gripping assembly through an electrical signal to control the gripping assembly to move and / or rotate the photovoltaic panel to adjust the posture of the photovoltaic panel so that the photovoltaic panel is aligned with the paving position. The alignment standard is that the photovoltaic panel is located directly above the paving position, and the yaw angle deviation and the pitch angle deviation are within a preset error range.

[0081] This application improves the position accuracy of photovoltaic panels by detecting and adjusting the posture of photovoltaic panels before placing them in the paving position. This method not only reduces the problem of photovoltaic panels being emptied or collided due to position errors, but also provides a basis for the automation of the entire process of photovoltaic panel installation.

[0082] The photovoltaic panel posture adjustment method provided in this embodiment can be implemented based on the structure of the above-mentioned photovoltaic panel paving device. Specifically, the horizontal distance and height difference between at least two measuring points on the edge of the photovoltaic panel and the corresponding edge of the paving position can be obtained through the measuring component.

[0083] The measuring assembly includes at least two measuring modules arranged at intervals, and the number of measuring modules corresponds to the number of measuring points. The measuring modules are arranged at intervals to ensure that multiple positions of the edge of the photovoltaic panel can be covered, so as to obtain more comprehensive measurement data. The measuring module includes a driving unit and a distance measuring unit. The driving unit drives the distance measuring unit to move in the horizontal direction to obtain the edge position information of the photovoltaic panel and the edge position information of the paving position, and calculate the horizontal distance; the distance measuring unit is used to obtain the height difference between the edge of the photovoltaic panel and the edge of the paving position; the measurement point of the edge of the photovoltaic panel corresponds to the installation position of the measuring module. The driving unit is used as a driving element, one end of the driving unit is connected to the gripping assembly, and the other end is connected to the distance measuring unit. The driving unit can drive the distance measuring unit to move in the horizontal direction according to the instructions of the controller, that is, drive the distance measuring unit to move in the direction close to the edge of the paving position. The distance measuring unit is installed at the moving end of the driving unit, and is used to detect the vertical distance, that is, the height difference, between the edge of the photovoltaic panel and the edge of the paving position. The distance measuring unit may use infrared distance measurement, laser distance measurement, ultrasonic distance measurement or other high-precision distance measurement technology to ensure the accuracy of the measurement result. At the same time, the actual distance information between the edge of the photovoltaic panel and the edge of the paving position can be obtained according to the travel of the driving unit when the distance measuring unit detects the edge of the photovoltaic panel and the edge of the paving position.

[0084] Based on the structure of the photovoltaic panel paving device, in the second embodiment, as Figure 5 As shown, step S10 includes:

[0085] Step S11, controlling the driving unit to drive the distance measuring unit to move in a horizontal direction, and obtaining the travel of the driving unit and the detection result of the distance measuring unit in real time;

[0086] Before starting the measurement, make sure that the drive unit and the distance measuring unit are in the initial state, that is, the moving end of the drive unit is at the preset starting point, and the installation position of the distance measuring unit is the moving end of the drive unit. The controller sends instructions to the drive unit to control the drive unit to move in the horizontal direction, usually towards the edge of the paving position. This instruction may include parameters such as the speed and acceleration of the movement to ensure the smoothness and accuracy of the movement process.

[0087] During the movement of the drive unit, the controller will obtain the travel data of the drive unit in real time. The travel data represents the distance the ranging unit has moved from the initial position to the current position, that is, the actual moving distance in the horizontal direction. At the same time, the ranging unit is also detecting the distance to the surrounding objects in real time.

[0088] The drive unit may include a linear drive member such as an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder. The drive unit may also include a rotary motor and a transmission mechanism. The transmission mechanism may be a cam, a connecting rod, a gear rack, or other mechanism that can convert rotation into linear motion. This application does not limit this. When the drive unit uses an electric cylinder, since the electric cylinder has its own stroke controller, it can automatically obtain stroke data and transmit it to the controller.

[0089] Step S12: When the distance measuring unit detects the edge of the paving position, the travel of the driving unit is a horizontal distance, and the detection result of the distance measuring unit is a height difference.

[0090] When the distance measuring unit approaches the edge of the paving position, it detects the existence of the edge of the paving position and records the distance value at this time, that is, the height difference between the edge of the photovoltaic panel and the edge of the paving position. When the distance measuring unit detects the edge of the paving position, the controller receives a specific signal, such as a sudden change in the distance value output by the distance measuring unit or reaching a preset threshold. At this time, the controller can determine that the distance measuring unit has reached the edge of the paving position. When the edge of the paving position is detected, the controller records the travel of the drive unit at this time as the horizontal distance, and records the detection result of the distance measuring unit as the height difference.

[0091] It can be understood that when the driving unit and the distance measuring unit are both in the initial state, there may be a certain distance between the distance measuring unit and the edge of the photovoltaic panel.

[0092] In the first example, the distance measuring unit is located on the inner side of the edge of the photovoltaic panel, that is, the projection of the distance measuring unit along the vertical height direction is located on the photovoltaic panel. In the process of the driving unit driving the distance measuring unit to move, the distance measuring unit will first detect the edge of the photovoltaic panel, and then detect the edge of the paving position. Specifically, as the driving unit drives, the distance measuring unit starts to move and first detects the edge of the photovoltaic panel. At this time, the distance measuring unit will detect a sudden change in the distance value, and the controller receives this signal and records the stroke of the driving unit at this time; the driving unit continues to drive the distance measuring unit to move, and when the distance measuring unit detects the edge of the paving position, it will detect a sudden change in the distance value again, and the controller receives this signal and records the stroke of the driving unit at this time; therefore, the stroke difference of the driving unit corresponding to the two distance value mutation signals is the horizontal distance between the edge of the photovoltaic panel and the edge of the paving position. Since the horizontal distance is calculated based on the relative value of the driving unit stroke, the grasping component is allowed to have a slight error when grasping the photovoltaic panel.

[0093] In the second example, the distance measuring unit is located outside the edge of the photovoltaic panel, and the driving unit and the distance measuring unit are in the initial position. At this time, there is a known distance D between the distance measuring unit and the edge of the photovoltaic panel. The driving unit drives the distance measuring unit to move until the edge of the paving position is detected. In this process, the distance measuring unit will detect a sudden change in the distance value. The controller receives this signal and records the distance S of the driving unit at this time. The horizontal distance needs to be added to the measured value by the distance between the initial position of the distance measuring unit and the edge of the photovoltaic panel. That is, the horizontal distance = S + D. In this example, it is necessary to ensure that the position of the grasping component is consistent when grasping the photovoltaic panel, so that the distance D between the initial position of the distance measuring unit and the edge of the photovoltaic panel can approach a constant value, thereby improving the accuracy and reliability of the measurement.

[0094] Based on the above second embodiment, in the third embodiment, if Figure 6 As shown, after step S11, the following steps are also included:

[0095] S13, establishing and storing the corresponding relationship between the travel distance and the detection result;

[0096] When the driving unit drives the distance measuring unit to move in the horizontal direction, the system will record the travel of the driving unit and the detection result of the distance measuring unit in real time. The system will establish a data structure, such as a table, array or database record to store the corresponding relationship between the travel and the detection result.

[0097] S14, when the difference between the detection result of the distance measuring unit and the previous detection result is greater than a preset range, determining that the current detection result is a target detection result, and controlling the driving unit to move a preset distance;

[0098] Since there may be interference or errors during the measurement process, the system needs a mechanism to identify and eliminate these unstable factors. In this step, the system compares the difference between the detection result of the current ranging unit and the previous detection result. If this difference is greater than the preset range, the current detection result can be considered a mutation point. Among them, the preset range is set according to the system accuracy requirements and actual application scenarios. In order to reduce the interference of other objects, the control drive unit continues to move a preset distance. This distance can be very small to ensure that more detailed information can be captured, and re-detection is performed to confirm the authenticity of the mutation point.

[0099] S15. When the difference between the target detection result and the next two detection results is within a preset range, the target detection result is a height difference, and the travel corresponding to the target detection result is a horizontal distance.

[0100] After the drive unit continues to move and performs additional detection, the system will again compare the target detection result with the difference between the two subsequent detection results. If the difference between the three detection results is within the preset range, that is, there is no sudden change again, the target detection result can be considered stable and reliable, and it is determined as the height difference between the edge of the photovoltaic panel and the edge of the paving location. At the same time, the travel of the drive unit corresponding to the target detection result is also determined as the horizontal distance between the edge of the photovoltaic panel and the edge of the paving location.

[0101] This embodiment ensures the accuracy and stability of the measurement result through multiple detections and comparisons. Even if there is accidental interference or error, it can be excluded through multiple verifications, thereby improving the accuracy and reliability of the adjustment.

[0102] In the case where the measuring component has two measuring modules, the measurement component including the first measuring module and the second measuring module is used as an example for explanation. Figure 2 and Figure 3 .

[0103] In step S10, the first measuring module obtains a first horizontal distance L1 and a first height difference H1, and the second measuring module obtains a second horizontal distance L2 and a second height difference H2; the horizontal distance includes the first horizontal distance L1 and the second horizontal distance L2, and the height difference includes the first height difference H1 and the second height difference H2.

[0104] The first horizontal distance L1 represents the horizontal distance from the measurement point corresponding to the first measurement module to the edge of the paving position, and the second horizontal distance L2 represents the horizontal distance from the measurement point corresponding to the second measurement module to the edge of the paving position. The first height difference H1 represents the height difference from the measurement point corresponding to the first measurement module to the edge of the paving position, and the second height difference H2 represents the height difference from the measurement point corresponding to the second measurement module to the edge of the paving position.

[0105] In step S20:

[0106] The first angle deviation α is calculated according to the first horizontal distance L1 and the second horizontal distance L2. The first angle deviation α is the rotation angle of the photovoltaic panel on the horizontal plane relative to the paving position. The first angle deviation α satisfies: α=arctan(L1-L2) / B; B is the distance between the two distance measuring units.

[0107] Calculate a second angle deviation β according to the first height difference H1 and the second height difference H2, and the second angle deviation β satisfies: β=arctan(H1-H2) / B;

[0108] The horizontal displacement A is calculated according to the first horizontal distance L1 and the second horizontal distance L2, and the horizontal displacement A satisfies: A=k1×L1+K2×L2; wherein K1 and K2 are constant coefficients determined according to the installation positions of the two measurement modules, and K1+K2=1.

[0109] In this embodiment, the first angle deviation α, the second angle deviation β and the horizontal displacement A can be obtained by calculating the first horizontal distance L1, the second horizontal distance L2, the first height difference H1 and the second height difference H2.

[0110] In another example, the measurement component has two or more measurement modules. Figure 7 As shown, step S20 includes:

[0111] Step S21, establishing a three-dimensional coordinate system;

[0112] A three-dimensional coordinate system is established, in which the X-axis represents the horizontal direction, the Y-axis represents the edge direction of the photovoltaic panel, and the Z-axis represents the vertical direction.

[0113] Step S22, using the edge of the photovoltaic panel as the Y-axis reference line; using the position of the measuring point as the Y coordinate, using the horizontal distance measured by the measuring module corresponding to the measuring point as the X coordinate, and using the measured height difference as the Z coordinate to generate scattered points;

[0114] The edge of the photovoltaic panel is used as the Y-axis reference line, and the position of each measurement point is used as the Y coordinate. For each measurement point, the horizontal distance measured by the corresponding measurement module is used as the X coordinate, and the measured height difference is used as the Z coordinate. In this way, we can generate a scattered point for each measurement point in three-dimensional space.

[0115] Step S23, fitting the scattered points to obtain a fitting line;

[0116] Use the least squares method or other suitable fitting methods to fit the generated scattered points to obtain a fitting line that best represents the distribution trend of these scattered points. This fitting line will be used for subsequent angle and displacement calculations. The fitting line can more accurately reflect the overall posture of the photovoltaic panel than a single scattered point.

[0117] Step S24, the angle formed by the fitting line and the baseline in the XY plane is measured as the first angle deviation α, and the angle formed by the fitting line and the baseline in the YZ plane is measured as the second angle deviation β; the shortest distance between the projection of the rotation center of the photovoltaic panel on the baseline and the fitting line is measured as the horizontal displacement A.

[0118] The first angle deviation α can be obtained by calculating the angle between the fitting line and the Y-axis reference line in the XY plane. This can be obtained by calculating the dot product of the direction vector of the fitting line and the Y-axis direction vector, and then applying the inverse tangent function.

[0119] The second angle deviation β can be obtained by calculating the angle between the fitting line and the Y-axis reference line on the YZ plane. This can also be obtained by calculating the dot product of the direction vector and the inverse tangent function.

[0120] When calculating the horizontal displacement A, find the rotation center of the photovoltaic panel, which is the rotation center of the grab assembly. The position of the rotation center and the position of the measurement point are relatively fixed. Calculate the shortest distance between the projection of the rotation center on the Y-axis reference line and the fitting line.

[0121] This example establishes a three-dimensional coordinate system and processes the measured data within a unified framework to reduce errors caused by inconsistent coordinate systems. In addition, by calculating with fitted lines instead of independent scattered points, random errors can be smoothed out, thereby improving measurement accuracy.

[0122] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0123] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A photovoltaic panel posture adjustment method, characterized in that: The photovoltaic panel posture adjustment method is used to adjust the relative position of the photovoltaic panel and the paving position of the photovoltaic bracket, and the photovoltaic panel posture adjustment method includes: Obtaining the horizontal distance and height difference between at least two measuring points on the edge of the photovoltaic panel and the corresponding edge of the paving position; Calculate the horizontal displacement A and the first angle deviation α according to the horizontal distance; calculate the second angle deviation β according to the height difference; adjusting the posture of the photovoltaic panel according to the horizontal displacement A, the first angle deviation α, and the second angle deviation β so that the photovoltaic panel is aligned with the paving position; The photovoltaic panel posture adjustment method further includes: providing a measurement component, the measurement component including at least two measurement modules arranged at intervals; Wherein, the measuring component comprises a first measuring module and a second measuring module; The step of obtaining the horizontal distance and height difference between at least two measurement points on the edge of the photovoltaic panel and the corresponding edge of the paving position comprises: The first measuring module acquires a first horizontal distance L1 and a first height difference H1, and the second measuring module acquires a second horizontal distance L2 and a second height difference H2; the horizontal distance includes the first horizontal distance L1 and the second horizontal distance L2, and the height difference includes the first height difference H1 and the second height difference H2.

2. The photovoltaic panel posture adjustment method according to claim 1, characterized in that: Also includes: The measuring module includes a driving unit and a distance measuring unit, wherein the driving unit is used to drive the distance measuring unit to move in the horizontal direction to obtain the edge position information of the photovoltaic panel and the edge position information of the paving position, and calculate the horizontal distance; the distance measuring unit is used to obtain the height difference between the edge of the photovoltaic panel and the corresponding edge of the paving position; Wherein, the measurement point position of the edge of the photovoltaic panel corresponds to the installation position of the measurement module.

3. The photovoltaic panel posture adjustment method according to claim 2, characterized in that: The step of obtaining the horizontal distance and height difference between at least two measurement points on the edge of the photovoltaic panel and the corresponding edge of the paving position comprises: Controlling the driving unit to drive the distance measuring unit to move in a horizontal direction, and acquiring the travel of the driving unit and the detection result of the distance measuring unit in real time; When the distance measuring unit detects the edge of the paving position, the stroke of the driving unit is the horizontal distance, and the detection result of the distance measuring unit is the height difference.

4. The photovoltaic panel posture adjustment method according to claim 2, characterized in that: After controlling the driving unit to drive the distance measuring unit to move in the horizontal direction and acquiring the travel of the driving unit and the detection result of the distance measuring unit in real time, the method further includes: Establish and store the corresponding relationship between the travel and the test results; When the difference between the detection result of the distance measuring unit and the previous detection result is greater than a preset range, determining the current detection result as a target detection result, and controlling the driving unit to move a preset distance; When the difference between the target detection result and the next two detection results is within a preset range, the target detection result is the height difference, and the travel corresponding to the target detection result is the horizontal distance.

5. The photovoltaic panel posture adjustment method according to claim 2, characterized in that: The calculating of the horizontal displacement A and the first angle deviation α according to the horizontal distance; and the calculating of the second angle deviation β according to the height difference include: A horizontal displacement A is calculated according to the first horizontal distance L1 and the second horizontal distance L2, a first angle deviation α is calculated according to the first horizontal distance L1 and the second horizontal distance L2, and a second angle deviation β is calculated according to the first height difference H1 and the second height difference H2.

6. The photovoltaic panel posture adjustment method according to claim 5, characterized in that: The first angle deviation α satisfies: α=arctan(L1-L2) / B; The second angle deviation β satisfies: β=arctan(H1-H2) / B; Wherein, B is the distance between two ranging units.

7. The photovoltaic panel posture adjustment method according to claim 6, characterized in that: The horizontal displacement A satisfies: A=k1×L1+K2×L2; Wherein, K1 and K2 are constant coefficients determined according to the installation positions of the two measurement modules, and K1+K2=1.

8. The photovoltaic panel posture adjustment method according to claim 2, characterized in that: The calculating of the horizontal displacement A and the first angle deviation α according to the horizontal distance; and the calculating of the second angle deviation β according to the height difference include: Establish a three-dimensional coordinate system; The edge of the photovoltaic panel is used as the Y-axis reference line; the position of the measuring point is used as the Y coordinate, the horizontal distance measured by the measuring module corresponding to the measuring point is used as the X coordinate, and the measured height difference is used as the Z coordinate to generate scattered points; Fitting the scattered points to obtain a fitting line; The angle formed by the fitting line and the baseline in the XY plane is measured as the first angle deviation α, and the angle formed by the fitting line and the baseline in the YZ plane is measured as the second angle deviation β; the shortest distance between the projection of the rotation center of the photovoltaic panel on the baseline and the fitting line is measured as the horizontal displacement A.

9. A photovoltaic panel paving device, characterized in that: The photovoltaic panel paving device comprises: A gripping assembly for gripping and moving the photovoltaic panel; A measuring component, used to obtain the horizontal distance and height difference between at least two points on the edge of the photovoltaic panel and the corresponding edge of the paving position of the photovoltaic support; A controller, the grabbing assembly and the measuring assembly are both electrically connected to the controller, the controller is used to calculate a horizontal displacement A and a first angle deviation α according to the horizontal distance; calculate a second angle deviation β according to the height difference; and control the grabbing assembly to move and / or rotate the photovoltaic panel according to the horizontal displacement A, the first angle deviation α and the second angle deviation β to adjust the posture of the photovoltaic panel so that the photovoltaic panel is aligned with the paving position; The measuring assembly comprises at least two measuring modules arranged at intervals; wherein the measuring assembly comprises a first measuring module and a second measuring module; The step of obtaining the horizontal distance and height difference between at least two measurement points on the edge of the photovoltaic panel and the corresponding edge of the paving position comprises: The first measuring module acquires a first horizontal distance L1 and a first height difference H1, and the second measuring module acquires a second horizontal distance L2 and a second height difference H2; the horizontal distance includes the first horizontal distance L1 and the second horizontal distance L2, and the height difference includes the first height difference H1 and the second height difference H2.

10. The photovoltaic panel paving device according to claim 9, characterized in that: The measuring module includes a driving unit and a ranging unit, both of which are electrically connected to the controller, one end of the driving unit is connected to the grabbing assembly, and the other end of the driving unit is connected to the ranging unit, the driving unit is used to drive the ranging unit to move in a horizontal direction to obtain the edge position of the photovoltaic panel and the corresponding edge position of the paving position to calculate the horizontal distance; the ranging unit is used to obtain the height difference between the edge of the photovoltaic panel and the edge of the paving position.

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