Photovoltaic carrier plate micro-motion deviation correction method and system, electronic equipment and readable storage medium

Abstract

The invention discloses a photovoltaic carrier plate micro-motion deviation correction method and system, electronic equipment and a readable storage medium, and the method comprises the steps: collecting the image information of a photovoltaic carrier plate in real time through a preset sensor, receiving the image information through a controller, carrying out the noise reduction processing, extracting the point cloud fusion features of the image information through an edge detection algorithm, and carrying out the point cloud fusion features of the image information; obtaining vertex coordinates in a preset reference coordinate system according to the point cloud fusion features; and obtaining a homogeneous transformation matrix based on the vertex coordinates in the preset reference coordinate system and the adjusted vertex coordinates, calculating to obtain an adjusted angle, offset and direction based on the homogeneous transformation matrix, outputting corresponding control signals, and driving an execution mechanism to perform position and angle adjustment. And judging whether the adjusted position and angle meet the preset requirements or not. Therefore, the adjustment precision of the photovoltaic carrier plate is improved, manual intervention is reduced, and the automation degree is high.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic carriers, and in particular to a method and system for micro-motion correction of photovoltaic carriers, electronic equipment and a readable storage medium. Background Art

[0002] With the growth of global energy demand and the enhancement of environmental protection awareness, renewable energy, especially solar photovoltaic (PV) technology, has received widespread attention and rapid development. Photovoltaic technology uses the photoelectric effect of semiconductor materials to directly convert solar energy into electrical energy, and has the advantages of being clean, renewable, and widely distributed. The core component of the photovoltaic system is the photovoltaic carrier (photovoltaic panel), and the accuracy of its installation and positioning has a crucial impact on the power generation efficiency and service life of the system. During the installation and production process of the photovoltaic system, the traditional manual adjustment method can no longer meet the high precision and high efficiency requirements of modern industry. Therefore, how to achieve high-precision positioning and micro-correction of photovoltaic carriers through automated and intelligent technical means has become a technical problem that needs to be solved urgently in the photovoltaic industry.

[0003] In practical applications, micro-correction of photovoltaic panels involves multiple technical fields, including sensor technology, image processing technology, automatic control technology, and data fusion technology. Existing correction systems mainly rely on technologies such as mechanical limit, laser positioning, and visual sensors, but these technical solutions have certain limitations in practical applications, such as insufficient positioning accuracy, poor real-time performance, poor adaptability, and high cost. Summary of the invention

[0004] The purpose of the present application is to provide a method and system for micro-correction of a photovoltaic carrier, an electronic device and a readable storage medium, which can improve the accuracy of photovoltaic carrier adjustment and reduce manual intervention.

[0005] To achieve the above objectives:

[0006] In a first aspect, an embodiment of the present application provides a photovoltaic carrier panel fine-tuning and correction method, the method comprising: step S1, collecting the photovoltaic carrier panel image information in real time through a preset sensor, and transmitting the image information to a controller; step S2, the controller receives the image information and performs noise reduction processing to obtain the image information after noise reduction; step S3, based on the image information after noise reduction, using an edge detection algorithm to extract point cloud fusion features, and obtaining the vertex coordinates in a preset reference coordinate system according to the point cloud fusion features; step S4, obtaining a homogeneous transformation matrix based on the vertex coordinates in the preset reference coordinate system and the adjusted vertex coordinates, and based on the homogeneous transformation matrix, calculating and obtaining the adjusted angle, offset and direction; step S5, based on the obtained adjusted angle, offset and direction, outputting a corresponding control signal, and driving the actuator to adjust the position and angle according to the corresponding control signal; step S6, judging whether the adjusted position and angle meet the preset requirements, if not, repeating S1-S5 until the adjusted position and angle meet the preset requirements.

[0007] In one embodiment, step S4 includes: defining the vertex coordinates in a preset reference coordinate system as (x, y), defining the adjusted vertex coordinates as (x', y'), and the homogeneous transformation matrix T of the adjusted vertex coordinates relative to the vertex coordinates in the preset reference coordinate system is:

[0008]

[0009] Where T is the homogeneous transformation matrix, θ is the angle adjusted, t x is the displacement of the vertex (x, y) on the x-axis, t y The displacement of the vertex (x, y) on the y axis.

[0010] In one embodiment, the actuator includes: a gantry, a micro-motion platform, and an air pump suction cup, wherein the micro-motion platform is used to achieve micro-motion adjustment of the carrier; the air pump suction cup is used to provide suction to lift the battery cell without causing damage; and the gantry is used for large-scale adjustments.

[0011] In one embodiment, the preset sensor includes an image sensor and a displacement sensor, which collects the position and angle of the photovoltaic panel in real time.

[0012] In one embodiment, the image sensor comprises a high-precision industrial camera, and the high-precision industrial camera is installed in a fixed position.

[0013] In the second aspect, an embodiment of the present application provides a photovoltaic carrier micro-motion correction system, the system comprising: a sensor module, a control module, a communication module, an actuator and a feedback adjustment module, characterized in that the sensor module is used to collect the position and angle data of the photovoltaic carrier in real time; the control module is configured to receive the position and angle data and calculate the adjusted angle and offset of the photovoltaic carrier; the communication module is responsible for data transmission between each module; the actuator is composed of a gantry, a micro-motion platform, and an air pump suction cup, and is used to adjust the position, angle and direction of the photovoltaic carrier; the feedback adjustment module, by real-time monitoring the position and angle of the carrier, continuously adjusts until the angle and offset meet the preset requirements.

[0014] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory storing a computer program; when the processor executes the computer program, the steps of the fault diagnosis method of the above-mentioned engineering machinery control system are implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the fault diagnosis method of the above-mentioned engineering machinery control system is implemented.

[0016] The photovoltaic carrier micro-motion correction method, system, electronic device and computer-readable storage medium provided in the embodiment of the present application. By initially placing the photovoltaic carrier in the installation position, the sensor module starts to collect the initial position and angle data and records it as the initial position. The controller receives the sensor data, performs preprocessing, and filters out noise and interference. After the data processing is completed, the correction algorithm module calculates the offset of the carrier and the required adjustment direction. The controller generates a control signal based on the correction calculation result and transmits it to the actuator through the communication module. The actuator receives the control signal and drives the micro-motion platform to adjust the position and angle. After the adjustment is completed, the sensor module continues to collect position and angle data, and the controller performs real-time monitoring and feedback adjustment to ensure that the position and angle of the photovoltaic carrier are accurate. When the position and angle of the photovoltaic carrier meet the preset requirements, the system stops adjusting and completes the micro-motion correction process. In this way, by combining the image sensor and the efficient control algorithm, the high-precision measurement and automatic adjustment of the position and posture of the photovoltaic carrier are achieved. The system consists of a sensor module, a controller, an actuator and a communication module, and ensures the precise positioning of the photovoltaic carrier during production and installation through real-time data acquisition and closed-loop control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a process flow of a photovoltaic panel micro-motion correction method provided by an embodiment of the present invention;

[0018] Figure 2Schematic diagram of the structure of the photovoltaic carrier micro-motion correction system in an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0021] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0022] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0023] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0024] It should be noted that in this article, step codes such as S1 and S2 are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the order. When implementing the step, those skilled in the art may execute S2 first and then S1, etc., but these should all be within the scope of protection of this application.

[0025] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0026] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0027] See also Figure 1 , is a photovoltaic carrier micro-motion correction method provided in an embodiment of the present application, and the photovoltaic carrier micro-motion correction method provided in this embodiment includes:

[0028] Step S1, collecting the image information of the photovoltaic panel in real time through a preset sensor, and transmitting the image information to a controller;

[0029] Among them, the sensor module: includes image sensors, displacement sensors and environmental sensors, which collect the position and angle data of photovoltaic carriers in real time. The main body of the image sensor module is composed of high-precision industrial cameras, which are used to collect the position and angle data of photovoltaic carriers in real time. High-precision industrial cameras: use high-resolution CCD cameras or CMOS cameras, installed in a fixed position, to capture images of photovoltaic carriers.

[0030] Step S2: the controller receives the image information and performs noise reduction processing to obtain image information after noise reduction;

[0031] Here, the controller receives the sensor data, performs preprocessing, and filters out noise and interference. Specifically, image denoising is an important part of image processing, which aims to reduce or eliminate noise in the image to improve the clarity and quality of the image. In this embodiment, any one or more of the following image denoising methods are selected: mean filtering, Gaussian filtering, median filtering, adaptive Wiener filter, non-local mean (NLM) algorithm, and learning-based denoising method.

[0032] In practical applications, choosing a suitable denoising method needs to consider the specific characteristics of the image and the type of noise. For example, for an image with Gaussian noise, Gaussian filtering may be a suitable choice; while for an image with salt and pepper noise, median filtering may be more effective. In addition, learning-based denoising methods show better performance when dealing with complex noise, but may require higher computing resources and time.

[0033] Step S3: extracting point cloud fusion features using an edge detection algorithm based on the denoised image information, and acquiring vertex coordinates in a preset reference coordinate system according to the point cloud fusion features;

[0034] Specifically, since the placement and posture of photovoltaic panels do not move, the ambient light will also change in real time. The computer uses deep learning instance segmentation technologies such as Mask R-CNN, Instance-sensitive FCN, YOLCAT, and RDSNet to segment and mark the photovoltaic panel area in the photovoltaic carrier image. Deep learning instance segmentation technology is used to remove the influence of photovoltaic panel placement posture and lighting to make the recognition result more stable. The photovoltaic panel image information is processed through deep learning instance segmentation to obtain a grayscale image of the segmented photovoltaic panel area. The image edge filtering and extraction technology is used to perform edge filtering on the photovoltaic panel grayscale image segmented by deep learning to screen out the largest edge contour and obtain the edge contour of the photovoltaic panel in the image.

[0035] The edge contour information of the photovoltaic panel is fitted by a polygon fitting function to generate edge information and vertex information, the point cloud fusion features are extracted, and the vertex coordinates in a preset reference coordinate system are obtained according to the point cloud fusion features, wherein the preset reference coordinate system is established with the vertex at the lower right corner of the edge of the image as the center.

[0036] Step S4: outputting corresponding control signals based on the obtained adjusted angle, offset and direction, and driving the actuator to adjust the position and angle according to the corresponding control signals;

[0037] The vertex coordinates in the preset reference coordinate system are defined as (x, y), and the adjusted vertex coordinates are defined as (x', y'). The homogeneous transformation matrix T of the adjusted vertex coordinates relative to the vertex coordinates in the preset reference coordinate system is:

[0038]

[0039] Where T is the homogeneous transformation matrix, θ is the angle adjusted, t x is the offset of the vertex (x, y) on the x-axis, t y The offset by which the vertex (x, y) is adjusted on the y axis.

[0040] Specifically, based on the above homogeneous transformation matrix T, the first vertex coordinate (x 1 ,y 1 )Adjust the transformation to (x′ 1 , y′ 1 ), the coordinates of the second vertex (x 2 ,y 2 )Adjust the transformation to (x′ 2 , y′ 2 ), specifically,

[0041]

[0042] After transformation, we get:

[0043]

[0044] Transform again and get:

[0045]

[0046] Finally, we get the adjusted angle θ and offset t x ,t y .

[0047] In addition, by the first vertex coordinate (x 1 ,y 1 ) and the second vertex coordinate (x 2 ,y 2 ) Calculate the adjustment angle. Specifically, by the result of x1*y2-x2*y1, when the result is greater than 0, the adjustment is performed counterclockwise, and when the result is less than 0, the adjustment is performed clockwise.

[0048] The controller adjusts the angle θ and the offset t according to the final adjustment. x ,t y , output control signals to drive the actuator to adjust the position and angle. The actuator consists of a gantry, a micro-motion platform, and an air pump suction cup, which are used to adjust the position and posture of the photovoltaic carrier. Micro-motion platform: used to achieve precise micro-motion adjustment of the photovoltaic carrier, suitable for application scenarios with high precision requirements. Air pump suction cup: provides suction that can suck up the battery cell without causing damage. Gantry, used for rapid adjustment over a large range, suitable for initial positioning and large-scale deviation correction.

[0049] Step S5, judging whether the adjusted position and angle meet the preset requirements, if not, repeating S1-S4 until the adjusted position and angle meet the preset requirements;

[0050] Here, after the adjustment is completed, the sensor module continues to collect position and angle data, and the controller performs real-time monitoring and feedback adjustment to ensure the accurate position and angle of the carrier. Through closed-loop control, the position and posture of the carrier are monitored in real time, and continuous adjustments are made until the preset requirements are met to ensure positioning accuracy.

[0051] In summary, in the photovoltaic carrier micro-correction method provided in the above embodiment, by adopting sensor fusion technology and high-precision image processing algorithm, high-precision positioning and micro-correction of the photovoltaic carrier are achieved, and the positioning accuracy of the system is significantly improved. In addition, the automated sensor data acquisition and control algorithm realizes the automatic micro-correction of the photovoltaic carrier, reduces manual operation, improves production efficiency and correction accuracy, and adopts fast-response control algorithms and efficient data processing methods to ensure real-time micro-correction of the photovoltaic carrier during production and installation, and adapt to the rapidly changing production environment. The cost-effectiveness of the system is improved, the overall cost is reduced, and the high-precision correction system can be applied to the photovoltaic industry at a lower cost.

[0052] The photovoltaic carrier micro-motion correction system provided in this embodiment comprises the following components: Figure 2 As shown, the system includes: a sensor module, a control module, a communication module, an actuator and a feedback adjustment module, wherein the sensor module is used to collect the position and angle data of the photovoltaic carrier in real time; the control module is configured to receive the position and angle data and calculate the offset and correction angle of the photovoltaic carrier; the communication module is responsible for data transmission between various modules; the actuator is composed of a gantry, a micro-motion platform, and an air pump suction cup, and is used to adjust the position and angle of the photovoltaic carrier; the feedback adjustment module monitors the position and angle of the carrier in real time, and continuously adjusts until the position and correction angle meet the preset requirements.

[0053] In this embodiment, the preset sensor includes an image sensor and a displacement sensor.

[0054] In this embodiment, the image sensor includes a high-precision industrial camera, and the high-precision industrial camera is installed in a fixed position.

[0055] In summary, the system provided in this embodiment undergoes initial positioning: the photovoltaic panel is initially placed at the installation position, and the sensor module begins to collect initial position and angle data, and records them as the initial position. Data processing: The controller receives the sensor data, performs preprocessing, and filters out noise and interference. Correction calculation: After the data processing is completed, the correction algorithm module calculates the offset and required adjustment direction of the photovoltaic panel. Control output: The controller generates a control signal based on the correction calculation result, and transmits it to the actuator through the communication module. Micro-adjustment: The actuator receives the control signal and drives the micro-motion platform to adjust the position and angle. Feedback adjustment: After the adjustment is completed, the sensor module continues to collect position and angle data, and the controller performs real-time monitoring and feedback adjustment to ensure that the position and angle of the photovoltaic panel are accurate. Correction completed: When the position and angle of the photovoltaic panel reach the preset requirements, the system stops adjusting and completes the micro-correction process.

[0056] Through the above technical solution, the present invention provides an efficient, accurate and reliable photovoltaic carrier micro-motion correction system, which realizes high-precision positioning of photovoltaic carriers during production and installation, and improves the overall performance and economic benefits of the photovoltaic system. The present invention adopts modular design and optimizes the system architecture, simplifies the system integration and debugging process, reduces the technical threshold and maintenance costs, and makes the system easy to deploy and use.

[0057] Based on the same inventive concept as the above embodiments, the embodiments of the present invention further provide an electronic device, such as Figure 3 As shown, the device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 3 The processor 310 shown in the figure is not used to indicate that the number of the processor 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of the processor 310 may be one or more; similarly, Figure 3 The memory 311 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 311 relative to other devices. In practical applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the fault diagnosis method of the engineering machinery control system is implemented.

[0058] The device may also include: at least one network interface 312. The various components in the device are coupled together via a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 3 Various buses are labeled as bus system 313.

[0059] The memory 311 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 311 described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0060] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the device. Examples of these data include: any computer program used to operate on the device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0061] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer-readable storage medium, in which a computer program is stored. The computer-readable storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM) or the like; it may also be various devices including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer-readable storage medium is executed by the processor, the fault diagnosis method of the engineering machinery control system mentioned above is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0062] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0064] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for micro-correction of photovoltaic carrier, characterized in that: The method comprises: Step S1, collecting the image information of the photovoltaic panel in real time through a preset sensor, and transmitting the image information to a controller; Step S2: the controller receives the image information and performs noise reduction processing to obtain image information after noise reduction; Step S3: extracting point cloud fusion features using an edge detection algorithm based on the denoised image information, and acquiring vertex coordinates in a preset reference coordinate system according to the point cloud fusion features; Step S4, obtaining a homogeneous transformation matrix based on the vertex coordinates in the preset reference coordinate system and the adjusted vertex coordinates, and calculating the adjusted angle, offset and direction based on the homogeneous transformation matrix; Step S5: Based on the obtained adjusted angle, offset and direction, a corresponding control signal is output, and the actuator is driven to adjust the position and angle according to the corresponding control signal; Step S6, judging whether the adjusted position and angle meet the preset requirements, if not, repeating S1-S5 until the adjusted position and angle meet the preset requirements.

2. The method according to claim 1, characterized in that The step S4 includes: defining the vertex coordinates in the preset reference coordinate system as (x, y), defining the adjusted vertex coordinates as (x', y'), and the homogeneous transformation matrix T of the adjusted vertex coordinates relative to the vertex coordinates in the preset reference coordinate system is: Where T is the homogeneous transformation matrix, θ is the adjustment angle, and t x is the offset of the vertex (x, y) on the x-axis, t y The offset by which the vertex (x, y) is adjusted on the y axis.

3. The method according to claim 1, characterized in that The actuator includes: a gantry, a micro-motion platform, and an air pump suction cup, wherein the micro-motion platform is used to achieve micro-motion adjustment of the photovoltaic carrier; the air pump suction cup is used to provide suction to lift the battery cell without causing damage; and the gantry is used to achieve large-scale adjustment of the photovoltaic carrier.

4. The method according to claim 1, characterized in that include: The preset sensors include image sensors and displacement sensors, which collect the position and angle of the photovoltaic panel in real time.

5. The method according to claim 4, characterized in that The image sensor comprises a high-precision industrial camera, and the high-precision industrial camera is installed in a fixed position.

6. A photovoltaic carrier micro-motion correction system, the system comprising: The sensor module, control module, communication module, actuator and feedback adjustment module are characterized in that the sensor module is used to collect the position and angle data of the photovoltaic carrier in real time; the control module is configured to receive the position and angle data and calculate the angle and offset of the photovoltaic carrier adjustment; the communication module is responsible for data transmission between various modules; the actuator is composed of a gantry, a micro-motion platform, and an air pump suction cup, and is used to adjust the position, angle and direction of the photovoltaic carrier; the feedback adjustment module continuously adjusts the position and angle of the carrier in real time until the angle and offset meet the preset requirements.

7. The system according to claim 6, characterized in that include: The preset sensors include image sensors and displacement sensors.

8. The system according to claim 6, characterized in that The image sensor comprises a high-precision industrial camera, and the high-precision industrial camera is installed in a fixed position.

9. An electronic device, characterized in that: It comprises a processor and a memory storing a computer program; when the processor executes the computer program, the photovoltaic carrier panel micro-motion correction method described in any one of claims 1 to 5 is implemented.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the method for micro-motion correction of a photovoltaic carrier panel according to any one of claims 1 to 5 is implemented.

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