Photovoltaic module intelligent storage system

Abstract

The present application provides a photovoltaic module intelligent storage system. Among them, through the cooperation of the main control terminal and the intelligent car, it is possible to realize the automatic fixation of photovoltaic modules of different models, photoelectric positioning during transportation, bump monitoring and inclination monitoring, effectively ensuring the safety of photovoltaic module storage. In addition, the photovoltaic module intelligent storage system also includes an entrance management device, an intelligent storage shelf, a monitoring camera and an exit management device, which can realize the intelligent management of the photovoltaic module storage and retrieval process, effectively reduce manual intervention, and thus reduce labor costs. In addition, through the precise positioning of the intelligent car and the pre-set access area, the area where the access operation is performed can be restricted, which is more conducive to the supervision of the access process. In addition, through the weight sensor of the intelligent storage shelf, the number of photovoltaic modules stored and retrieved can be detected, and then with the monitoring camera, it can be accurately judged whether the storage / retrieval process is normal, ensuring the accuracy and safety of intelligent warehousing.

Description

Technical Field

[0001] The present application relates to an intelligent storage system for photovoltaic components, and belongs to the technical field of storage management. Background Art

[0002] Photovoltaic modules are a type of device that converts solar energy into electrical energy and are one of the most important equipment for photovoltaic power generation. Both photovoltaic module manufacturers and photovoltaic power stations have storage needs for photovoltaic modules. However, photovoltaic modules themselves are different from other components and are easily damaged. Therefore, ensuring the safety of photovoltaic modules in storage and preventing damage requires consideration of multiple aspects, such as the temperature and humidity of the storage environment, static electricity, shading, sun protection, and dust prevention. In addition, photovoltaic modules need to be fixed during transportation and storage to prevent bumps, and photovoltaic modules have strict restrictions on horizontal placement and transportation bumps. Otherwise, it is very easy to damage photovoltaic modules, resulting in breakage and affecting the performance of photovoltaic modules. In addition, photovoltaic modules are relatively heavy and large in size, so how to realize the intelligent storage and access of photovoltaic modules and reduce labor costs is also an urgent problem to be solved. Summary of the invention

[0003] The present application provides a photovoltaic component intelligent storage system to solve the problems of inadequate component monitoring and protection, low intelligence level and high labor cost in current photovoltaic component storage management.

[0004] In order to solve the above problems, this application specifically provides the following technical solutions:

[0005] A photovoltaic module intelligent storage system, comprising: a main control terminal and an intelligent vehicle connected to the main control terminal in communication; the intelligent vehicle is used to transport photovoltaic modules in a storage warehouse;

[0006] The smart car is provided with at least one photovoltaic component placement station, a positioning detection camera, a bump detection device, at least one acceleration sensor, a plurality of limit components and an alarm device; the limit component includes a slidable limit block and a limit power component connected to the limit block; wherein the positioning detection camera is arranged above the photovoltaic component placement station, and is used to take a positioning image of the photovoltaic component placement station area, and transmit it to the main control terminal; the bump detection device is arranged on the body of the smart car, and is used to detect the bump information of the smart car, and transmit the bump information to the main control terminal; the acceleration sensor is arranged on the surface of the photovoltaic component placement station away from the photovoltaic component, and is used to detect the horizontal information of the photovoltaic component placement station, and transmit it to the main control terminal; the limit block is arranged around the photovoltaic component placement station, and after the photovoltaic component is placed on the station, it moves to a set position under the action of the corresponding limit power component to fix the photovoltaic component;

[0007] After receiving the instruction to transport the photovoltaic components, the control terminal parses the instruction to determine the model of the photovoltaic components to be transported, queries the predetermined position of each limit block and the corresponding predetermined placement position of the photovoltaic components according to the model, and sends the positioning image sent by the positioning detection camera to the trained photoelectric detection model, and when the photovoltaic component positioning information output by the photoelectric detection model is the same as the predetermined placement position, sends a control instruction to the limit component to move the limit block to the set position under the action of the corresponding limit power component; during the movement of the smart car, the control terminal sends the positioning image sent by the positioning detection camera to the photoelectric detection model at a predetermined frequency, and when the error between the photovoltaic component positioning information output by the photoelectric detection model and the predetermined placement position is greater than the predetermined error, controls the alarm device to issue a first alarm message;

[0008] The photoelectric detection model uses the following steps to determine the photovoltaic assembly positioning information:

[0009] Extract the initial features of the positioning image; use the feature map corresponding to the initial features as the first feature map; perform a shift operation on the feature points in the first feature map to obtain a first displacement feature map; perform a fusion process on the first feature map and the associated feature points in the first displacement feature map, and extract global feature information during the fusion process to obtain a first first global feature map; wherein the associated feature points are at least two feature points with a positional association relationship; perform a downsampling process on the first global feature map, and splice the image features of the reduced feature points into the image features of the adjacent feature points to obtain a second feature map; perform a shift operation on the feature points in the second feature map to obtain a second displacement feature map; perform a fusion process on the associated feature points in the second feature map and the second displacement feature map, and extract global feature information during the fusion process to obtain a second first global feature map; wherein different first global feature maps have different resolutions;

[0010] Downsampling the second first global feature map, and splicing the image features of the reduced feature points into the image features of the adjacent feature points to obtain a third feature map; shifting the feature points in the third feature map to obtain a third displacement feature map; fusing the third feature map and the associated feature points in the third displacement feature map to obtain a fourth feature map; upsampling the fourth feature map, and splitting the image features of the feature points in the fourth feature map into newly added adjacent feature points to obtain a fifth feature map;

[0011] Based on the fifth feature map and the second first global feature map, a fusion process of associated feature points is performed, and global feature information is extracted during the fusion process to obtain a first second global feature map; the first second global feature map is upsampled, and the image features of the feature points in the first second global feature map are split to newly added adjacent feature points to obtain a sixth feature map; based on the sixth feature map and the first first global feature map, a fusion process of associated feature points is performed, and global feature information is extracted during the fusion process to obtain a second second global feature map; the second second global feature map is upsampled, and the image features of the feature points in the second second global feature map are split to newly added adjacent feature points to obtain a third global feature map; the third global feature map has the same resolution as the positioning image; the third global feature map is linearly mapped to obtain a segmentation mask of the photovoltaic module; the photovoltaic module positioning information is determined according to the position of the segmentation mask;

[0012] The bump detection device includes a first displacement detector, a second displacement detector, a third displacement detector and a fourth displacement detector; the first detector is arranged on the top of the smart car, and is used to detect the first displacement information of the smart car in the vertical direction; the second displacement detector is arranged at the bottom of the smart car, and is used to detect the second displacement information of the smart car in the vertical direction; the third displacement detector is arranged on the first side of the body of the smart car, and is used to detect the third displacement information of the smart car in the horizontal direction; the first side is the left side of the body of the smart car along the forward direction of the smart car; the fourth displacement detector is arranged on the second side of the body of the smart car, and is used to detect the fourth displacement information of the smart car in the horizontal direction; the second side is the right side of the body of the smart car along the forward direction of the smart car; the bump information includes the first displacement information, the second displacement information, the third displacement information and the fourth displacement information;

[0013] The control terminal performs the following processing according to each set of bump information: determining the vertical bumpiness according to the first displacement information and the second displacement information, and determining the horizontal bumpiness according to the third displacement information and the fourth displacement information; determining the target bumpiness of the smart car according to the vertical bumpiness and the horizontal bumpiness; when the target bumpiness exceeds the first preset bumpiness for more than a preset number of times, the control terminal controls the alarm device to issue a second alarm message, and controls the speed of the smart car to be uniformly reduced to less than the preset speed; when the target bumpiness exceeds the second preset bumpiness, the control terminal controls the alarm device to issue a third alarm message, and controls the speed of the smart car to be uniformly reduced to zero; the first preset bumpiness is less than the second preset bumpiness;

[0014] The control terminal is further used to determine the inclination of the photovoltaic assembly according to the horizontal information sent by the acceleration sensor, and control the alarm device to issue a fourth alarm message when the inclination is greater than a preset inclination.

[0015] In one possible implementation, the photovoltaic module intelligent storage system further includes an entrance management device, a plurality of intelligent storage shelves with unique numbers, a surveillance camera, and an exit management device;

[0016] The entrance management device is arranged at the entrance area of ​​the storage warehouse, and is used to obtain the unique number of the smart car and the photovoltaic component information of the photovoltaic components to be stored / retrieved before the smart car enters the storage warehouse, and send the unique number of the smart car and the photovoltaic component information to the main control terminal, wherein the photovoltaic component information includes the model and quantity of the photovoltaic components;

[0017] The storage warehouse is pre-divided into a plurality of storage areas, the plurality of intelligent storage shelves are respectively arranged in different storage areas and are used to classify and store different photovoltaic modules, and the storage areas also include pre-set access areas;

[0018] When the smart cart is located in the entrance area, the main control terminal determines the target smart storage shelf of the smart cart according to the photovoltaic component information and the current storage information of each smart storage shelf, and generates a navigation path pointing to the target access area corresponding to the target smart storage shelf based on the pre-configured storage warehouse map, and sends it to the smart cart; or, when the smart cart is located in the entrance area, the main control terminal determines the target smart storage shelf of the smart cart according to the photovoltaic component information and the current storage information of each smart storage shelf, and sends the location of the target smart storage shelf to the smart cart, so that the smart cart generates a navigation path pointing to the target access area corresponding to the target smart storage shelf based on the pre-configured storage warehouse map and the location of the target smart storage shelf;

[0019] A plurality of different positioning marks are also provided at specific positions in the storage warehouse, and the different positioning marks are used to identify different areas and / or positions in the storage warehouse. The smart car includes an image acquisition device, and the smart car acquires actual images of the positioning marks around the image acquisition device during movement, and matches the actual images with the standard images of the respective positioning marks to determine the precise position information in the storage warehouse map; wherein, the matching based on the actual images with the standard images of the respective positioning marks to determine the precise position in the storage warehouse map includes: preliminarily matching the actual image with the standard images of the respective positioning marks to determine the target positioning mark corresponding to the actual image; obtaining the target positioning mark corresponding to the actual image by the standard images; A set of pixels to be matched consisting of the pixels of the outline of the positioning mark, and a standard set of pixels consisting of the pixels of the outline of the positioning mark corresponding to the standard image of the target positioning mark; determining the conversion relationship information between the set of pixels to be matched and the standard set of pixels, the conversion relationship information including rotation, translation and scaling; based on the conversion relationship information, determining the pixels that match the pixels in the standard set of pixels from the set of pixels to be matched to obtain a plurality of matching pixel pairs; based on the plurality of matching pixel pairs and the conversion relationship information, determining the relative position relationship between the smart car and the target positioning mark; based on the relative position relationship between the smart car and the target positioning mark, determining the precise position information of the smart car in the warehouse map;

[0020] The main control terminal is also used to obtain the precise location information, and when it is determined that the smart car is located in the target access area according to the precise location information, send an unlocking instruction to the target smart storage shelf to allow the corresponding smart car to store / remove photovoltaic components from the target smart storage shelf in the target access area;

[0021] The intelligent storage shelf includes a weight sensor for detecting weight change information before and after the photovoltaic components are stored / retrieved, and sending the weight change information to the main control terminal; the main control terminal also determines the number of photovoltaic components stored / retrieved based on the weight change information, and compares it with the photovoltaic component information sent by the entrance management device to determine whether the storage / retrieval process is normal;

[0022] The monitoring camera is used to collect monitoring video of the storage / retrieval process of the smart car and send it to the main control terminal; the main control terminal also determines whether the storage / retrieval process is normal based on the monitoring video and the photovoltaic module information sent by the entrance management device;

[0023] The exit management device is arranged at the exit area of ​​the storage warehouse, and is used to obtain the unique number of the smart car before the smart car leaves the storage warehouse, and send the unique number of the smart car to the main control terminal;

[0024] When the smart car is located in the exit area, the main control terminal also allows the smart car to leave the storage warehouse based on the unique number of the smart car if the storage / retrieval process performed by it is normal, otherwise an alarm is issued through the exit management device.

[0025] In a possible implementation, each of the smart storage shelves is provided with one or more storage and access areas. When there are multiple storage and access areas, the smart carts at the multiple storage and access areas are allowed to perform different storage or retrieval operations.

[0026] In a possible implementation manner, the main control terminal also sends the unique number of the smart car and the photovoltaic component information to the target smart storage shelf;

[0027] The intelligent storage shelf also includes an alarm device. The target intelligent storage shelf is also used to obtain the unique number of the intelligent vehicle that is performing the storage / retrieval operation, and determine the number of photovoltaic components stored / retrieved based on the weight change information detected by the weight sensor, and compare it with the photovoltaic component information sent by the main control terminal to determine whether the storage / retrieval process is normal, and when the storage / retrieval process is abnormal, an alarm is issued through the alarm device.

[0028] In a possible implementation, the smart storage shelf and the smart car obtain the unique number of the smart car through radio frequency communication.

[0029] In a possible implementation, the photovoltaic module intelligent storage system further includes:

[0030] A display device is communicatively connected to the main control terminal, and the display device is used to display a virtual map of the storage warehouse and the location information of each smart car in the storage warehouse on the virtual map and the storage / retrieval status to be executed or being executed.

[0031] The present application provides a photovoltaic component intelligent storage system, which can realize automatic fixation of photovoltaic components of different models, photoelectric positioning during transportation, bump monitoring and inclination monitoring through the cooperation of the main control terminal and the intelligent cart, effectively ensuring the safety of photovoltaic component storage. In addition, the photovoltaic component intelligent storage system also includes an entrance management device, an intelligent storage shelf, a monitoring camera and an exit management device, which can realize the intelligent management of the photovoltaic component storage and retrieval process, effectively reduce manual intervention, and thus reduce labor costs. In addition, through the precise positioning of the intelligent cart and the pre-set access area, the area where the access operation is performed can be restricted, which is more conducive to the supervision of the access process. In addition, through the weight sensor of the intelligent storage shelf, the number of photovoltaic components stored and retrieved can be detected, and then in conjunction with the monitoring camera, it can be accurately judged whether the storage / retrieval process is normal, ensuring the accuracy and safety of intelligent warehousing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. In addition, these drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application for those skilled in the art by referring to specific embodiments.

[0033] Figure 1 A schematic diagram of the structure of a photovoltaic module intelligent storage system provided in one embodiment of the present application;

[0034] Figure 2 An internal structural diagram of a storage warehouse provided for one embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0036] In order to improve the safety and intelligence of photovoltaic module storage management and reduce labor costs. The embodiment of the present application provides a photovoltaic module intelligent storage system. Through the cooperation of a variety of intelligent devices, the system can realize automatic fixation of photovoltaic modules of different models, photoelectric positioning during transportation, bump monitoring and inclination monitoring, effectively ensuring the safety of photovoltaic module storage; at the same time, it can also realize intelligent management of the photovoltaic module storage and retrieval process, effectively reducing manual intervention, thereby reducing labor costs. In addition, the accuracy of the intelligent storage process can also be guaranteed. The following is a non-restrictive description of the specific implementation scheme through multiple embodiments or examples.

[0037] like Figure 1-2 As shown, a photovoltaic component intelligent storage system includes: a main control terminal and an intelligent vehicle 2 that is communicatively connected to the main control terminal, an entrance management device 3, a plurality of intelligent storage shelves 4 with unique numbers, a monitoring camera 5 and an exit management device 6.

[0038] The main control terminal is responsible for the individual or joint control of each device or equipment in the entire photovoltaic module intelligent storage system, including the processing and storage of data and requests, as well as the generation and issuance of control instructions, etc. It can be a computer or server.

[0039] The smart car is provided with at least one photovoltaic component placement station, a positioning detection camera, a bump detection device, at least one acceleration sensor, a plurality of limit components and an alarm device; the limit component includes a slidable limit block and a limit power component connected to the limit block; wherein the positioning detection camera is arranged above the photovoltaic component placement station, and is used to take a positioning image of the photovoltaic component placement station area, and transmit it to the main control terminal; the bump detection device is arranged on the body of the smart car, and is used to detect the bump information of the smart car, and transmit the bump information to the main control terminal; the acceleration sensor is arranged on the surface of the photovoltaic component placement station away from the photovoltaic component bearing station, and is used to detect the horizontal information of the photovoltaic component placement station, and transmit it to the main control terminal; the limit block is arranged around the photovoltaic component placement station, and after the photovoltaic component is placed on the station, it moves to a set position under the action of the corresponding limit power component to fix the photovoltaic component. Here, after receiving the instruction from the control terminal, the limiting component uses the limiting power component to drive the limiting block to move to the set position, thereby fixing the photovoltaic module and realizing automatic fixation of photovoltaic modules of different models.

[0040] Photovoltaic components need to be fixed and stabilized during transportation to prevent the components from moving during transportation. The present invention utilizes the control terminal, positioning detection camera, and limit components on the smart car to achieve this.

[0041] After receiving the instruction to transport the photovoltaic components, the control terminal parses the instruction to determine the model of the photovoltaic components to be transported, queries the predetermined position of each limit block and the corresponding predetermined placement position of the photovoltaic components according to the model, and sends the positioning image sent by the positioning detection camera to the trained photoelectric detection model, and when the photovoltaic component positioning information output by the photoelectric detection model is the same as the predetermined placement position, sends a control instruction to the limit component to make the limit block move to the set position under the action of the corresponding limit power component; during the movement of the smart car, the control terminal sends the positioning image sent by the positioning detection camera to the photoelectric detection model at a predetermined frequency, and when the error between the photovoltaic component positioning information output by the photoelectric detection model and the predetermined placement position is greater than the predetermined error, controls the alarm device to issue a first alarm message.

[0042] The photoelectric detection model uses the following steps to determine the photovoltaic assembly positioning information:

[0043] Extract the initial features of the positioning image; use the feature map corresponding to the initial features as the first feature map; perform a shift operation on the feature points in the first feature map to obtain a first displacement feature map; perform a fusion process on the first feature map and the associated feature points in the first displacement feature map, and extract global feature information during the fusion process to obtain a first first global feature map; wherein the associated feature points are at least two feature points with a positional association relationship; perform a downsampling process on the first global feature map, and splice the image features of the reduced feature points into the image features of the adjacent feature points to obtain a second feature map; perform a shift operation on the feature points in the second feature map to obtain a second displacement feature map; perform a fusion process on the associated feature points in the second feature map and the second displacement feature map, and extract global feature information during the fusion process to obtain a second first global feature map; wherein different first global feature maps have different resolutions;

[0044] Downsampling the second first global feature map, and splicing the image features of the reduced feature points into the image features of the adjacent feature points to obtain a third feature map; shifting the feature points in the third feature map to obtain a third displacement feature map; fusing the third feature map and the associated feature points in the third displacement feature map to obtain a fourth feature map; upsampling the fourth feature map, and splitting the image features of the feature points in the fourth feature map into newly added adjacent feature points to obtain a fifth feature map;

[0045] Based on the fifth feature map and the second first global feature map, a fusion process of associated feature points is performed, and global feature information is extracted during the fusion process to obtain a first second global feature map; the first second global feature map is upsampled, and the image features of the feature points in the first second global feature map are split to newly added adjacent feature points to obtain a sixth feature map; based on the sixth feature map and the first first global feature map, a fusion process of associated feature points is performed, and global feature information is extracted during the fusion process to obtain a second second global feature map; the second second global feature map is upsampled, and the image features of the feature points in the second second global feature map are split to newly added adjacent feature points to obtain a third global feature map; the third global feature map has the same resolution as the positioning image; the third global feature map is linearly mapped to obtain a segmentation mask of the photovoltaic component; the photovoltaic component positioning information is determined according to the position of the segmentation mask.

[0046] Photovoltaic modules need to avoid severe vibration and impact during transportation and storage to prevent damage, and the present invention monitors through bump information.

[0047] The bump information includes first displacement information, second displacement information, third displacement information and fourth displacement information. The bump detection device includes a first displacement detector, a second displacement detector, a third displacement detector and a fourth displacement detector; the first detector is arranged on the top of the smart car, for detecting the first displacement information of the smart car in the vertical direction; the second displacement detector is arranged on the bottom of the smart car, for detecting the second displacement information of the smart car in the vertical direction; the third displacement detector is arranged on the first side of the body of the smart car, for detecting the third displacement information of the smart car in the horizontal direction; the first side is the left side of the body of the smart car along the forward direction of the smart car; the fourth displacement detector is arranged on the second side of the body of the smart car, for detecting the fourth displacement information of the smart car in the horizontal direction; the second side is the right side of the body of the smart car along the forward direction of the smart car.

[0048] The control terminal performs the following processing according to each set of bump information: determines the vertical bumpiness according to the first displacement information and the second displacement information, determines the horizontal bumpiness according to the third displacement information and the fourth displacement information; determines the target bumpiness of the smart car according to the vertical bumpiness and the horizontal bumpiness.

[0049] Specifically, the first displacement information and the second displacement information may be weighted and summed to determine the vertical jolting degree. For example, when it is preliminarily determined that the smart car is jolting upward based on the first displacement information and the second displacement information, the first displacement information and the second displacement information are weighted and summed using the first set of weights; here, the weight corresponding to the first displacement information in the first set of weights is greater than the weight corresponding to the second displacement information. For another example, when it is preliminarily determined that the smart car is jolting downward based on the first displacement information and the second displacement information, the first displacement information and the second displacement information are weighted and summed using the second set of weights; here, the weight corresponding to the first displacement information in the second set of weights is less than the weight corresponding to the second displacement information.

[0050] Specifically, the third displacement information and the fourth displacement information may be weighted and summed to determine the horizontal bumpiness. For example, when it is preliminarily determined that the smart car bumps to the left based on the third displacement information and the fourth displacement information, the third displacement information and the fourth displacement information are weighted and summed using the third set of weights; here, the weight corresponding to the third displacement information in the third set of weights is greater than the weight corresponding to the fourth displacement information. For another example, when it is preliminarily determined that the smart car bumps to the right based on the third displacement information and the fourth displacement information, the third displacement information and the fourth displacement information are weighted and summed using the fourth set of weights; here, the weight corresponding to the third displacement information in the fourth set of weights is less than the weight corresponding to the fourth displacement information.

[0051] Specifically, the vertical jolting degree and the horizontal jolting degree may be weighted and summed to determine the target jolting degree of the smart car. The weights of the vertical jolting degree and the horizontal jolting degree may be the same, or may be different according to specific circumstances.

[0052] When the target bumpiness exceeds the first preset bumpiness for more than the preset number of times, the control terminal controls the alarm device to issue a second alarm message and controls the speed of the smart car to be uniformly reduced to less than the preset speed; when the target bumpiness exceeds the second preset bumpiness, the control terminal controls the alarm device to issue a third alarm message and controls the speed of the smart car to be uniformly reduced to zero; the first preset bumpiness is less than the second preset bumpiness. The second preset bumpiness is a relatively large bumpiness. If the target bumpiness of the smart car exceeds the second preset bumpiness, it means that the photovoltaic components are likely to be damaged, and it is necessary to stop the car for inspection.

[0053] During transportation, photovoltaic modules need to be fixed and stabilized to prevent the modules from tilting during transportation. The present invention utilizes a control terminal and an acceleration sensor on a smart car to monitor the tilt of photovoltaic modules.

[0054] The control terminal is also used to determine the inclination of the photovoltaic module according to the horizontal information sent by the acceleration sensor, and control the alarm device to issue a fourth alarm message when the inclination is greater than a preset inclination. The inclination of the photovoltaic module will cause great damage to it and affect its performance, so it is necessary to monitor the inclination of the photovoltaic module during transportation.

[0055] The entrance management device 3 is arranged at the entrance area of ​​the storage warehouse, and can communicate with the smart car 2. The communication method can be but not limited to Bluetooth, radio frequency or other wireless methods, so that before the smart car 2 enters the operation area of ​​the storage warehouse, the unique number of the smart car 2 and the photovoltaic component information of the photovoltaic components to be stored / retrieved are obtained, and the unique number of the smart car 2 and the photovoltaic component information are sent to the main control terminal. The photovoltaic component information includes the model and quantity of the photovoltaic component. Among them, the photovoltaic component intelligent storage system can be equipped with multiple smart cars 2, so that each smart car 2 can independently perform its own storage / retrieval tasks. The smart car 2 includes a mechanical arm that can complete the photovoltaic component pick-up / placement action by itself. In addition, in order to better manage the smart car 2, each smart car 2 is pre-set with a unique number, and this unique number is also pre-stored in the main control device 1. In addition, the smart cart 2 may include a human-computer interaction function, or the photovoltaic component intelligent storage system may also include a human-computer interaction device that can communicate with the smart cart 2. Through the human-computer interaction function of the smart cart 2 or the human-computer interaction device, the staff can configure work task information for the corresponding smart cart 2, including information on photovoltaic components to be stored / retrieved (i.e., the model and quantity of photovoltaic components to be stored / retrieved), etc.

[0056] The storage warehouse is a room for storing photovoltaic modules. The storage warehouse is pre-divided into multiple storage areas A1. Multiple intelligent storage shelves 4 are respectively set in different storage areas A1 and are used to classify and store different photovoltaic modules. The storage area A1 also includes a pre-set access area A2. Among them, each storage area A1 is equipped with one or more intelligent storage shelves 4. The intelligent storage shelves 4 also have unique numbers for easy identification. The unique numbers of the intelligent storage shelves 4 are also stored in the main control device 1. In addition, each storage area A1 is equipped with a special access area A2. The intelligent car 2 is only allowed to perform storage / retrieval operations when it is located in the access area A2, so as to better realize the supervision of the storage / retrieval process.

[0057] When the smart car 2 is located in the entrance area, the main control terminal determines the target smart storage shelf of the smart car 2 according to the photovoltaic component information and the current storage information of each smart storage shelf 4, and generates a navigation path pointing to the target access area A2 corresponding to the target smart storage shelf based on the pre-configured storage warehouse map, and sends it to the smart car 2; or, when the smart car 2 is located in the entrance area, the main control terminal determines the target smart storage shelf of the smart car 2 according to the photovoltaic component information and the current storage information of each smart storage shelf 4, and sends the location of the target smart storage shelf to the smart car 2, so that the smart car 2 generates a navigation path pointing to the target access area A2 corresponding to the target smart storage shelf based on the pre-configured storage warehouse map and the location of the target smart storage shelf.

[0058] Specifically, when the main control terminal determines the target intelligent storage shelf of the smart car 2 based on the photovoltaic component information and the current storage information of each intelligent storage shelf 4, it first determines the type of photovoltaic components to be stored / retrieved, thereby determining which one or which intelligent storage shelves 4 currently store or can store photovoltaic components of this type, and then determines the number of photovoltaic components to be stored / retrieved, thereby further determining which intelligent storage shelf 4 the smart car 2 should go to to perform the storage / retrieval of photovoltaic components, that is, determining the target intelligent storage shelf. It can be understood that if the number of photovoltaic components to be stored in the smart car 2 is large and a single intelligent storage shelf 4 cannot store all of them, multiple intelligent storage shelves 4 can be determined as target intelligent storage shelves. Similarly, when the smart car 2 needs to take out a large number of photovoltaic components, multiple intelligent storage shelves 4 can also be determined as target intelligent storage shelves.

[0059] In addition, the pre-configured warehouse map includes information such as the size and location of each device, equipment and area in the warehouse. Based on the warehouse map, the main control device 1 can form a navigation path pointing to the target access area A2 corresponding to the target smart warehouse shelf, and then send the navigation path to the smart car 2 for execution. Alternatively, the smart car 2 can also form a navigation path pointing to the target access area A2 corresponding to the target smart warehouse shelf based on the warehouse map, and then execute it. Among them, the specific navigation algorithm can be selected according to actual needs, and there is no restriction on this.

[0060] It can be understood that the smart car 2 can also include sensors for detecting obstacles (distance sensors, radars, etc.). Based on this, in the process of moving along the navigation path to the target access area A2, if an obstacle is detected on the path (such as other smart cars 2), the obstacle can be avoided according to the set obstacle avoidance algorithm. Specifically, the obstacle avoidance algorithm can adopt an existing algorithm, which will not be repeated here.

[0061] In addition, a plurality of different positioning marks are set at specific positions in the storage warehouse. Different positioning marks are used to identify different areas and / or positions in the storage warehouse. The positioning mark can be, for example, a signboard set on the side or around the intelligent storage shelf 4. The signboard can be provided with information such as text, numbers or patterns of specific shapes. Different positioning marks contain different information. Accordingly, the smart car 2 includes an image acquisition device. During the movement, the smart car 2 acquires the actual image of the positioning marks around the image acquisition device, and matches the actual image with the standard image of each positioning mark to determine the precise location information in the storage warehouse map. The determined precise location information can be sent to the main control device 1 to realize the position monitoring of each smart car 2.

[0062] In some embodiments, matching the actual image with the standard image of each positioning mark to determine the precise location in the warehouse map includes:

[0063] Step S1: Preliminarily match the actual image with the standard images of each positioning mark to determine the target positioning mark corresponding to the actual image.

[0064] Specifically, since different positioning marks contain different information, such as different texts or patterns, etc., the closest positioning mark, that is, the target positioning mark, can be determined by preliminarily matching the actual image of the positioning mark collected by the smart car 2 in real time with the standard image of each positioning mark. Among them, during the preliminary matching, the image matching can be achieved by using methods based on feature points, color histograms or deep learning, and the similarity can be calculated to determine the closest positioning mark. After determining the target positioning mark, the precise positioning of the smart car 2 is further achieved based on this.

[0065] Step S2: Acquire a set of pixels to be matched consisting of pixels of the contour of the positioning mark corresponding to the actual image, and a set of standard pixels consisting of pixels of the contour of the positioning mark corresponding to the standard image of the target positioning mark.

[0066] Specifically, the set of pixels to be matched is a set consisting of all pixels of the contour of the positioning mark in the actual image. For example, if the positioning mark is the letter "A", then a set consisting of all pixels corresponding to the inner and outer contours of "A" in the image of the letter "A" is obtained as the set of pixels to be matched. Similarly, the standard pixel set is a set consisting of all pixels of the contour of the positioning mark in the standard image.

[0067] Step S3: Determine the transformation relationship information between the to-be-matched pixel set and the standard pixel set, where the transformation relationship information includes rotation, translation and scaling.

[0068] Specifically, after obtaining the to-be-matched pixel set and the standard pixel set, the conversion relationship information such as rotation, translation and scaling between the respective constituent patterns of the two can be calculated.

[0069] Among them, the rotation relationship information can be determined based on the orientation information of the patterns formed by the pixel set to be matched and the standard pixel set, the translation relationship information can be determined based on the center of gravity of the patterns formed by the pixel set to be matched and the standard pixel set, and the translation relationship information can be determined based on the area of ​​the patterns formed by the pixel set to be matched and the standard pixel set.

[0070] Step S4: Based on the conversion relationship information, pixels matching the pixels in the standard pixel set are determined from the to-be-matched pixel set to obtain a plurality of matching pixel pairs.

[0071] Specifically, based on the transformation relationship information, each pixel in the matching pixel set can be rotated, translated, scaled and other transformations to be as consistent as possible with the standard pixel set, and then matched, so as to accurately determine the matching pixel pairs and effectively improve the processing accuracy.

[0072] Step S5: Based on the multiple matched pixel pairs and the conversion relationship information, the relative position relationship between the smart car 2 and the target positioning mark is determined.

[0073] In this way, through the matched pixel pairs and the conversion relationship information, the relative position relationship between the position when the actual graphics are collected and the position when the standard image is collected can be determined, and then the relative position relationship between the smart car 2 and the target positioning mark can be obtained. In addition, only using the matched pixel pairs for calculation can further improve the processing accuracy.

[0074] Step S6: Based on the relative position relationship between the smart car 2 and the target positioning mark, determine the precise position information of the smart car 2 in the warehouse map.

[0075] In this way, since the positions of various positioning marks in the warehouse map are known, the precise position information of the smart car 2 in the warehouse map can be determined based on the relative position relationship between the smart car 2 and the target positioning mark.

[0076] Through the above steps, the intelligent car 2 can be accurately positioned. In addition, in the entire processing process, only the pixels corresponding to the outline of the positioning mark are processed, thereby effectively reducing the amount of processed data and improving processing efficiency.

[0077] In addition, the main control terminal is also used to obtain precise location information, and when it is determined that the smart car 2 is located in the target access area A2 based on the precise location information, an unlocking instruction is sent to the target smart storage shelf to allow the corresponding smart car 2 to store / retrieve photovoltaic components from the target smart storage shelf in the target access area A2. Specifically, after the main control terminal obtains the precise location information of the smart car 2, if it is determined that the smart car 2 is located in the target access area A2 corresponding to its target smart storage shelf, it is determined that the smart car 2 can be allowed to perform the storage / retrieval operation, and therefore, the unlocking instruction can be sent to the target smart storage shelf. After receiving the unlocking instruction, the target smart storage shelf can open the shelf door or the blocking device, so that the smart car 2 can perform the storage / retrieval operation in the target access area A2.

[0078] In addition, the intelligent storage shelf 4 includes a weight sensor for detecting weight change information before and after the storage / retrieval of photovoltaic components, and sending the weight change information to the main control terminal; the main control terminal also determines the number of photovoltaic components stored / retrieved based on the weight change information, and compares it with the photovoltaic component information sent by the entrance management device 3 to determine whether the storage / retrieval process is normal.

[0079] Specifically, in practice, different types of photovoltaic modules have different standard weights W, so the main control terminal can determine the number of photovoltaic modules stored / retrieved, that is, △W / W, based on the weight change information △W collected by the intelligent storage shelf 4. It should be noted that in practice, the weight of the photovoltaic module will have a certain error, so △W / W may not be an integer, so it is necessary to round it up in practice as the number of photovoltaic modules. It should also be noted that in practice, the photovoltaic module may not exist alone, but multiple photovoltaic modules may be packaged and packed using packaging boxes, etc. In this case, the number of photovoltaic modules refers to the number of standard independent packages.

[0080] After the main control terminal determines the number of photovoltaic components stored / retrieved, it can compare it with the photovoltaic component information sent by the entrance management device 3, that is, compare the actual number of photovoltaic components stored / retrieved with the set target number. If the two are consistent, it indicates that the storage / retrieval process of the smart car 2 is normal, otherwise it indicates that the storage / retrieval process is abnormal.

[0081] It should be noted that the intelligent storage shelf 4 may include multiple sub-areas, each sub-area is provided with a weight sensor, and each sub-area can work independently.

[0082] In addition, after each storage / retrieval action is completed, the main control terminal can also determine the number of photovoltaic modules stored / retrieved this time based on the weight change information. If the number determined this time is not an integer and the error is greater than the reasonable error (for example, it is determined that 1.5 photovoltaic modules are stored this time), it indicates that the smart car 2 may have stored the wrong type of photovoltaic modules. At this time, an abnormal signal can be generated or an alarm instruction can be output to prompt the staff to intervene and confirm in time. In this way, the accuracy of the storage / retrieval process can be further guaranteed and abnormalities can be reduced.

[0083] In addition, the monitoring camera 5 is used to collect monitoring video of the storage / retrieval process of the smart car 2 and send it to the main control terminal; the main control terminal also determines whether the storage / retrieval process is normal based on the monitoring video and the photovoltaic component information sent by the entrance management device 3.

[0084] Among them, the main control terminal can have a built-in processing algorithm to determine how many times the smart car 2 has performed storage / retrieval operations based on the monitoring video, and then determine the number of photovoltaic components stored / retrieved, and then compare it with the photovoltaic component information sent by the entrance management device 3 to determine whether the actual storage / retrieval quantity is consistent with the target quantity, and to determine whether the storage / retrieval process is normal.

[0085] It should be noted that, since the smart car 2 can only perform storage / retrieval operations in the set storage / access area A2, the monitoring camera 5 can be conveniently pre-set to a reasonable position, thereby reducing obstruction to the monitoring camera 5 and ensuring that the monitoring camera 5 can complete the collection of the entire storage / retrieval process.

[0086] In addition, the exit management device 6 is arranged at the exit area of ​​the storage warehouse, and is used to obtain the unique number of the smart car 2 before the smart car 2 leaves the storage warehouse, and send the unique number of the smart car 2 to the main control terminal. Through the exit management device 6, the information of the smart car 2 that is about to leave the storage warehouse can be collected, and the collected information can be sent to the main control terminal, which determines whether to allow the smart car 2 to leave according to whether the storage / retrieval process is normal.

[0087] Specifically, when the smart car 2 is located in the exit area, the main control terminal also allows the smart car 2 to leave the storage warehouse according to the unique number of the smart car 2 if the storage / retrieval process performed by it is normal, otherwise an alarm is issued through the exit management device 6. In this way, accuracy and safety can be further improved.

[0088] It is understandable that after the smart car 2 completes the storage / retrieval operation, the path planning algorithm can also be used to obtain the navigation path for the smart car 2 to move to the exit area. The principle of the navigation path obtained by planning during entry is the same, so it will not be repeated.

[0089] Based on the above photovoltaic module intelligent storage system, through the main control terminal, the intelligent car 2, the entrance management device 3, the intelligent storage shelf 4, the monitoring camera 5 and the exit management device 6, the intelligent management of the photovoltaic module storage and retrieval process can be realized, effectively reducing manual intervention, thereby reducing labor costs. In addition, through the precise positioning of the intelligent car 2 and the pre-set access area A2, the area where the access operation is performed can be restricted, which is more conducive to the supervision of the access process. In addition, through the weight sensor of the intelligent storage shelf 4, the number of photovoltaic modules stored and retrieved can be detected, and then with the monitoring camera 5, it can be accurately judged whether the storage / retrieval process is normal, ensuring the accuracy and safety of intelligent warehousing.

[0090] It should also be noted that each smart storage shelf 4 can be provided with one or more storage and access areas A2. When there are multiple storage and access areas A2, the smart carts 2 at the multiple storage and access areas A2 are allowed to perform different storage or retrieval operations. That is, for the same smart storage shelf 4, multiple smart carts 2 can perform storage / retrieval operations at the same time, and these smart carts 2 can perform different operations, that is, one smart cart 2 can put in photovoltaic components and another smart cart 2 can take out photovoltaic components. In this case, the corresponding part of the smart storage shelf 4 and each storage and access area A2 is a sub-area, and each sub-area works independently to ensure that weighing and collecting monitoring video lights can be carried out independently without interfering with each other. In this way, the overall processing efficiency can be improved and the waiting situation of the smart cart 2 can be reduced.

[0091] In addition, in some embodiments, the main control terminal also sends the unique number and photovoltaic component information of the smart car 2 to the target smart storage shelf; at the same time, the smart storage shelf also includes an alarm device, and the target smart storage shelf is also used to obtain the unique number of the smart car 2 that is performing the storage / retrieval operation, and determine the number of photovoltaic components stored / retrieved based on the weight change information detected by the weight sensor, and compare it with the photovoltaic component information sent by the main control terminal to determine whether the storage / retrieval process is normal, and when the storage / retrieval process is abnormal, an alarm is issued through the alarm device.

[0092] That is, in this embodiment, the smart storage shelf 4 can also independently determine whether the storage / retrieval process is normal, and issue an alarm when an abnormality is determined, so as to help nearby staff to quickly determine the location of the smart storage shelf 4 where the abnormality occurs, and check and handle it.

[0093] Furthermore, in some embodiments, the smart storage shelf 4 and the smart car 2 obtain the unique number of the smart car 2 through radio frequency communication. For example, the smart car 2 may include a radio frequency transmitting unit, and the smart storage shelf 4 may include a radio frequency receiving unit. The radio frequency transmitting unit of the smart car 2 transmits a radio frequency signal carrying its own unique number to the outside, and the radio frequency receiving unit of the smart storage shelf 4 can receive the radio frequency signal, thereby obtaining the unique number of the smart car 2. It should be noted that in this scheme, the distance of radio frequency communication needs to be specifically set to ensure that the smart storage shelf 4 can only receive the radio frequency signal of the smart car 2 located in the access area A2, and cannot receive the radio frequency signal of the smart car 2 passing nearby. Alternatively, a switch component of the radio frequency signal can also be added to the smart car 2. When the main control device 1 determines that the smart car 2 is located in the access area A2, a trigger signal is sent to the smart car 2. After the smart car 2 receives the trigger signal, it can open the switch component of the radio frequency signal and then transmit the radio frequency signal to the outside.

[0094] In addition, in some embodiments, the photovoltaic module intelligent storage system may further include a display device 7 that is communicatively connected to the main control terminal, and the display device 7 is used to display a virtual map of the storage warehouse and the location information of each intelligent vehicle 2 in the storage warehouse on the virtual map and the storage / retrieval status to be executed or being executed. In this way, it is convenient for the staff to understand the operation status in the storage warehouse in a timely and intuitive manner, and to facilitate management and control.

[0095] The display device 7 may be integrated into the main control device 1 or may be an independent device. The storage / access status to be executed by the smart car 2 includes information such as the destination, navigation path and access target of the moving smart car 2.

[0096] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0097] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means at least two.

[0098] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0099] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0100] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0101] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0102] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A photovoltaic module intelligent storage system, characterized in that: include: A main control terminal and an intelligent vehicle in communication connection with the main control terminal; the intelligent vehicle is used to transport photovoltaic modules in a storage warehouse; The smart car is provided with at least one photovoltaic component placement station, a positioning detection camera, a bump detection device, at least one acceleration sensor, a plurality of limit components and an alarm device; the limit component includes a slidable limit block and a limit power component connected to the limit block; wherein the positioning detection camera is arranged above the photovoltaic component placement station, and is used to take a positioning image of the photovoltaic component placement station area, and transmit it to the main control terminal; the bump detection device is arranged on the body of the smart car, and is used to detect the bump information of the smart car, and transmit the bump information to the main control terminal; the acceleration sensor is arranged on the surface of the photovoltaic component placement station away from the photovoltaic component, and is used to detect the horizontal information of the photovoltaic component placement station, and transmit it to the main control terminal; the limit block is arranged around the photovoltaic component placement station, and after the photovoltaic component is placed on the station, it moves to a set position under the action of the corresponding limit power component to fix the photovoltaic component; After receiving the instruction to transport the photovoltaic components, the main control terminal parses the instruction to determine the model of the photovoltaic components to be transported, queries the predetermined position of each limit block and the corresponding predetermined placement position of the photovoltaic components according to the model, and sends the positioning image sent by the positioning detection camera to the trained photoelectric detection model, and when the photovoltaic component positioning information output by the photoelectric detection model is the same as the predetermined placement position, sends a control instruction to the limit component to make the limit block move to the set position under the action of the corresponding limit power component; during the movement of the smart car, the main control terminal sends the positioning image sent by the positioning detection camera to the photoelectric detection model at a predetermined frequency, and when the error between the photovoltaic component positioning information output by the photoelectric detection model and the predetermined placement position is greater than the predetermined error, controls the alarm device to issue a first alarm message; The photoelectric detection model uses the following steps to determine the photovoltaic assembly positioning information: Extract the initial features of the positioning image; use the feature map corresponding to the initial features as the first feature map; perform a shift operation on the feature points in the first feature map to obtain a first displacement feature map; perform a fusion process on the first feature map and the associated feature points in the first displacement feature map, and extract global feature information during the fusion process to obtain a first first global feature map; wherein the associated feature points are at least two feature points with a positional association relationship; perform a downsampling process on the first global feature map, and splice the image features of the reduced feature points into the image features of the adjacent feature points to obtain a second feature map; perform a shift operation on the feature points in the second feature map to obtain a second displacement feature map; perform a fusion process on the associated feature points in the second feature map and the second displacement feature map, and extract global feature information during the fusion process to obtain a second first global feature map; wherein different first global feature maps have different resolutions; Downsampling the second first global feature map, and splicing the image features of the reduced feature points into the image features of the adjacent feature points to obtain a third feature map; shifting the feature points in the third feature map to obtain a third displacement feature map; fusing the third feature map and the associated feature points in the third displacement feature map to obtain a fourth feature map; upsampling the fourth feature map, and splitting the image features of the feature points in the fourth feature map into newly added adjacent feature points to obtain a fifth feature map; Based on the fifth feature map and the second first global feature map, a fusion process of associated feature points is performed, and global feature information is extracted during the fusion process to obtain a first second global feature map; the first second global feature map is upsampled, and the image features of the feature points in the first second global feature map are split to newly added adjacent feature points to obtain a sixth feature map; based on the sixth feature map and the first first global feature map, a fusion process of associated feature points is performed, and global feature information is extracted during the fusion process to obtain a second second global feature map; the second second global feature map is upsampled, and the image features of the feature points in the second second global feature map are split to newly added adjacent feature points to obtain a third global feature map; the third global feature map has the same resolution as the positioning image; the third global feature map is linearly mapped to obtain a segmentation mask of the photovoltaic module; the photovoltaic module positioning information is determined according to the position of the segmentation mask; The bump detection device includes a first displacement detector, a second displacement detector, a third displacement detector and a fourth displacement detector; the first displacement detector is arranged on the top of the smart car, and is used to detect the first displacement information of the smart car in the vertical direction; the second displacement detector is arranged at the bottom of the smart car, and is used to detect the second displacement information of the smart car in the vertical direction; the third displacement detector is arranged on the first side of the body of the smart car, and is used to detect the third displacement information of the smart car in the horizontal direction; the first side is the left side of the body of the smart car along the forward direction of the smart car; the fourth displacement detector is arranged on the second side of the body of the smart car, and is used to detect the fourth displacement information of the smart car in the horizontal direction; the second side is the right side of the body of the smart car along the forward direction of the smart car; the bump information includes the first displacement information, the second displacement information, the third displacement information and the fourth displacement information; The main control terminal performs the following processing according to each set of bump information: determining the vertical bumpiness according to the first displacement information and the second displacement information, and determining the horizontal bumpiness according to the third displacement information and the fourth displacement information; determining the target bumpiness of the smart car according to the vertical bumpiness and the horizontal bumpiness; when the target bumpiness exceeds the first preset bumpiness for more than a preset number of times, the main control terminal controls the alarm device to issue a second alarm message, and controls the speed of the smart car to be uniformly reduced to less than the preset speed; when the target bumpiness exceeds the second preset bumpiness, the main control terminal controls the alarm device to issue a third alarm message, and controls the speed of the smart car to be uniformly reduced to zero; the first preset bumpiness is less than the second preset bumpiness; The main control terminal is also used to determine the inclination of the photovoltaic assembly according to the horizontal information sent by the acceleration sensor, and control the alarm device to issue a fourth alarm message when the inclination is greater than a preset inclination.

2. The photovoltaic module intelligent storage system according to claim 1, characterized in that: It also includes an entrance management device, multiple smart storage shelves with unique numbers, surveillance cameras, and an exit management device; The entrance management device is arranged at the entrance area of ​​the storage warehouse, and is used to obtain the unique number of the smart car and the photovoltaic component information of the photovoltaic components to be stored / retrieved before the smart car enters the storage warehouse, and send the unique number of the smart car and the photovoltaic component information to the main control terminal, wherein the photovoltaic component information includes the model and quantity of the photovoltaic components; The storage warehouse is pre-divided into a plurality of storage areas, the plurality of intelligent storage shelves are respectively arranged in different storage areas and are used to classify and store different photovoltaic modules, and the storage areas also include pre-set access areas; When the smart cart is located in the entrance area, the main control terminal determines the target smart storage shelf of the smart cart according to the photovoltaic component information and the current storage information of each smart storage shelf, and generates a navigation path pointing to the target access area corresponding to the target smart storage shelf based on the pre-configured storage warehouse map, and sends it to the smart cart; or, when the smart cart is located in the entrance area, the main control terminal determines the target smart storage shelf of the smart cart according to the photovoltaic component information and the current storage information of each smart storage shelf, and sends the location of the target smart storage shelf to the smart cart, so that the smart cart generates a navigation path pointing to the target access area corresponding to the target smart storage shelf based on the pre-configured storage warehouse map and the location of the target smart storage shelf; A plurality of different positioning marks are also provided at specific positions in the storage warehouse, and the different positioning marks are used to mark different areas and / or positions in the storage warehouse. The smart car includes an image acquisition device. The smart car passes through the actual images of the positioning marks around the image acquisition device during movement, and matches the actual images with the standard images of the respective positioning marks to determine the precise position information in the storage warehouse map; wherein, the matching based on the actual image with the standard images of the respective positioning marks to determine the precise position in the storage warehouse map includes: preliminarily matching the actual image with the standard images of the respective positioning marks to determine the target positioning mark corresponding to the actual image; obtaining the target positioning mark corresponding to the actual image by the standard images; A set of pixels to be matched consisting of pixels of the outline of the positioning mark, and a standard set of pixels consisting of pixels of the outline of the positioning mark corresponding to the standard image of the target positioning mark; determining the conversion relationship information between the set of pixels to be matched and the standard set of pixels, the conversion relationship information including rotation, translation and scaling; based on the conversion relationship information, determining pixels that match the pixels in the standard set of pixels from the set of pixels to be matched to obtain a plurality of matching pixel pairs; based on the plurality of matching pixel pairs and the conversion relationship information, determining the relative position relationship between the smart car and the target positioning mark; based on the relative position relationship between the smart car and the target positioning mark, determining the precise position information of the smart car in the warehouse map; The main control terminal is also used to obtain the precise location information, and when it is determined that the smart car is located in the target access area according to the precise location information, send an unlocking instruction to the target smart storage shelf to allow the corresponding smart car to store / remove photovoltaic components from the target smart storage shelf in the target access area; The intelligent storage shelf includes a weight sensor for detecting weight change information before and after the photovoltaic components are stored / retrieved, and sending the weight change information to the main control terminal; the main control terminal also determines the number of photovoltaic components stored / retrieved based on the weight change information, and compares it with the photovoltaic component information sent by the entrance management device to determine whether the storage / retrieval process is normal; The monitoring camera is used to collect monitoring video of the storage / retrieval process of the smart car and send it to the main control terminal; the main control terminal also determines whether the storage / retrieval process is normal based on the monitoring video and the photovoltaic module information sent by the entrance management device; The exit management device is arranged at the exit area of ​​the storage warehouse, and is used to obtain the unique number of the smart car before the smart car leaves the storage warehouse, and send the unique number of the smart car to the main control terminal; When the smart car is located in the exit area, the main control terminal also allows the smart car to leave the storage warehouse based on the unique number of the smart car if the storage / retrieval process performed by it is normal, otherwise an alarm is issued through the exit management device.

3. The photovoltaic module intelligent storage system according to claim 2, characterized in that: Each of the intelligent storage shelves is correspondingly provided with one or more storage and access areas. When there are multiple storage and access areas, the intelligent carts at the multiple storage and access areas are allowed to perform different storage or retrieval operations.

4. The photovoltaic module intelligent storage system according to claim 2, characterized in that: The main control terminal also sends the unique number of the smart car and the photovoltaic module information to the target smart storage shelf; The intelligent storage shelf also includes an alarm device. The target intelligent storage shelf is also used to obtain the unique number of the intelligent vehicle that is performing the storage / retrieval operation, and determine the number of photovoltaic components stored / retrieved based on the weight change information detected by the weight sensor, and compare it with the photovoltaic component information sent by the main control terminal to determine whether the storage / retrieval process is normal, and when the storage / retrieval process is abnormal, an alarm is issued through the alarm device.

5. The photovoltaic module intelligent storage system according to claim 4, characterized in that: The smart storage shelf and the smart car obtain the unique number of the smart car through radio frequency communication.

6. The photovoltaic module intelligent storage system according to claim 2, characterized in that: Also includes: A display device is communicatively connected to the main control terminal, and the display device is used to display a virtual map of the storage warehouse and the location information of each smart car in the storage warehouse on the virtual map and the storage / retrieval status to be executed or being executed.

Images