Hybrid positioning method and device for photovoltaic module processing process

Abstract

The invention provides a hybrid positioning method and device in a photovoltaic module processing process, relates to the technical field of photovoltaic module positioning, and mainly aims to improve the positioning precision and stability of a photovoltaic module and further improve the subsequent processing quality. According to the main technical scheme of the invention, the method comprises the steps: carrying out the preliminary mechanical positioning of a photovoltaic module according to the size information of the photovoltaic module, and obtaining the mechanical positioning data corresponding to the photovoltaic module; performing structured light projection image acquisition on the mechanically positioned photovoltaic module, and determining visual positioning data of the photovoltaic module according to a module edge and a projection edge in image data; fusing the mechanical positioning data and the visual positioning data to obtain positioning optimization data corresponding to the photovoltaic module; and performing positioning adjustment on mechanical positioning based on the positioning optimization data, and taking the positioning optimization data as processing basic data so as to facilitate subsequent accurate processing of the photovoltaic module. The present disclosure is used for hybrid positioning of photovoltaic modules in combination with machinery and vision.

Description

Technical Field

[0001] The present disclosure relates to the technical field of photovoltaic component positioning, and in particular to a hybrid positioning method and device in a photovoltaic component processing process. Background Art

[0002] With the rapid development of solar photovoltaic technology, the production efficiency and quality requirements of photovoltaic modules are getting higher and higher. In the processing of photovoltaic modules, especially in the processes of edge cutting, splicing, welding, etc., precise positioning is the key link to ensure processing quality and production efficiency.

[0003] At present, the traditional photovoltaic module positioning method mainly relies on mechanical positioning, that is, fixing the photovoltaic module in a preset position through a platform, positioning pins and a clamping mechanism. However, this method is greatly affected by mechanical errors, especially when there is a slight deformation on the edge of the module, resulting in irregular edges, which will lead to low positioning accuracy and stability of the photovoltaic module, thus affecting the subsequent processing quality. Summary of the invention

[0004] A technical problem to be solved by the present disclosure is: how to improve the positioning accuracy and stability of photovoltaic modules in the face of slight deformation of the module edges resulting in irregular edges, thereby improving the subsequent processing quality.

[0005] In order to solve the above technical problems, in a first aspect, an embodiment of the present disclosure provides a hybrid positioning method in a photovoltaic module processing process, which is applied to an automatic positioning system, comprising:

[0006] Perform preliminary mechanical positioning of the photovoltaic module according to the size information of the photovoltaic module, and obtain mechanical positioning data corresponding to the photovoltaic module;

[0007] Capturing structured light projection images of the photovoltaic modules after mechanical positioning, and determining visual positioning data of the photovoltaic modules based on the module edges and projection edges in the image data;

[0008] The mechanical positioning data and the visual positioning data are integrated to obtain the positioning optimization data corresponding to the photovoltaic modules;

[0009] The mechanical positioning is adjusted based on the positioning optimization data, and the positioning optimization data is used as the basic processing data to facilitate the subsequent precise processing of photovoltaic modules.

[0010] In some embodiments, performing preliminary mechanical positioning of the photovoltaic assembly according to the size information of the photovoltaic assembly and obtaining mechanical positioning data corresponding to the photovoltaic assembly includes:

[0011] When the photovoltaic module is placed on the air-floating support platform, the flexible clamping mechanism and the adaptive positioning pins are activated;

[0012] Determine the corresponding moving lengths of the flexible pressing mechanism and the adaptive positioning pin according to the size information;

[0013] The flexible clamping mechanism and the adaptive positioning pin are controlled according to the moving length to fix the photovoltaic module at a preset position on the air-floating support platform to obtain initial position information and initial posture information. The initial position information is used to represent the initial center position of the photovoltaic module, and the initial posture information is used to represent the initial tilt angle of the photovoltaic module.

[0014] The initial position information and initial posture information are used as mechanical positioning data.

[0015] In some embodiments, before using the initial position information and the initial posture information as the mechanical positioning data, the method further includes:

[0016] Obtaining component temperatures and thermal expansion coefficients corresponding to the flexible clamping mechanism and the adaptive positioning pin;

[0017] Calculate the thermal expansion amount of the flexible clamping mechanism and the adaptive positioning pin respectively according to the difference between the component temperature and the reference temperature and the thermal expansion coefficient;

[0018] Compensating the initial position information and the initial posture information based on the thermal expansion amount;

[0019] The initial position information and initial posture information are used as mechanical positioning data, including:

[0020] The compensated initial position information and initial posture information are used as mechanical positioning data.

[0021] In some embodiments, collecting structured light projection images of the photovoltaic assembly after mechanical positioning, and determining visual positioning data of the photovoltaic assembly according to the assembly edge and the projection edge in the image data, includes:

[0022] Activate the structured light projector to project the photovoltaic module, and control the multi-angle camera array to capture image data of the projected photovoltaic module;

[0023] Calculate the gradient magnitude and gradient direction of each pixel in the image data, and extract the edge contour of the photovoltaic module based on the gradient magnitude and gradient direction, the edge contour including the module edge contour and the projection pattern edge contour;

[0024] Determine the visual position information of the photovoltaic module according to the edge contour of the module, and the visual position information is used to characterize the visual center position of the photovoltaic module;

[0025] Determine the visual posture information of the photovoltaic module according to the edge contour of the projection pattern, and the visual posture information is used to characterize the visual tilt angle of the photovoltaic module;

[0026] The visual position information and visual posture information are used as visual positioning data.

[0027] In some embodiments, before using the visual position information and the visual posture information as visual positioning data, the method further includes:

[0028] Collect the vibration frequencies corresponding to the flexible clamping mechanism and the adaptive positioning pin;

[0029] Vibration compensation of visual position information and visual posture information based on vibration frequency;

[0030] The visual position information and visual posture information are used as visual positioning data, including:

[0031] The compensated visual position information and visual posture information are used as visual positioning data.

[0032] In some embodiments, determining visual position information of a photovoltaic module according to an edge contour of the module includes:

[0033] Fit all edge points in the edge contour of the component to obtain the fitting edge corresponding to the photovoltaic component;

[0034] The visual center position of the photovoltaic module is calculated according to the visual size information corresponding to the fitting edge, and the visual center position is used as the visual position information.

[0035] In some embodiments, determining visual posture information of a photovoltaic assembly according to an edge profile of a projection pattern includes:

[0036] Fitting the straight line edge points in the edge contour of the projection pattern to obtain a fitting straight line corresponding to the straight line edge points;

[0037] The visual tilt angle corresponding to the PV module is calculated according to the slope of the fitting line, and the visual tilt angle is used as the visual posture information.

[0038] In order to solve the above technical problems, in a second aspect, the embodiment of the present disclosure provides a hybrid positioning device for a photovoltaic module processing process, comprising:

[0039] A mechanical positioning unit, used to perform preliminary mechanical positioning of the photovoltaic module according to the size information of the photovoltaic module and obtain mechanical positioning data corresponding to the photovoltaic module;

[0040] A visual positioning unit, used to collect structured light projection images of the photovoltaic components after mechanical positioning, and determine the visual positioning data of the photovoltaic components according to the component edges and projection edges in the image data;

[0041] A data fusion unit is used to fuse the mechanical positioning data obtained by the mechanical positioning unit and the visual positioning data obtained by the visual positioning unit to obtain positioning optimization data corresponding to the photovoltaic module;

[0042] The positioning adjustment unit is used to adjust the mechanical positioning based on the positioning optimization data obtained by the data fusion unit, and use the positioning optimization data as the basic processing data to facilitate the subsequent precise processing of the photovoltaic components.

[0043] To solve the above technical problems, in a third aspect, an embodiment of the present disclosure provides a storage medium, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the hybrid positioning method of the photovoltaic module processing process of the first aspect.

[0044] To solve the above technical problems, in a fourth aspect, an embodiment of the present disclosure provides a processor, which is used to run a program, wherein when the program is running, the hybrid positioning method of the photovoltaic module processing process of the first aspect is executed.

[0045] Through the above technical scheme, the present disclosure provides a hybrid positioning method and device for a photovoltaic module processing process, which first performs preliminary mechanical positioning on the photovoltaic module according to the size information of the photovoltaic module, and obtains the mechanical positioning data corresponding to the photovoltaic module, then performs structured light projection image acquisition on the photovoltaic module after mechanical positioning, and determines the visual positioning data of the photovoltaic module according to the module edge and the projection edge in the image data, then fuses the mechanical positioning data and the visual positioning data to obtain the positioning optimization data corresponding to the photovoltaic module, and finally adjusts the mechanical positioning based on the positioning optimization data, and uses the positioning optimization data as the basic processing data to facilitate the subsequent precise processing of the photovoltaic module. Through the technical solution provided by the present invention, it is possible to perform structured light projection on the photovoltaic modules based on the mechanical positioning of the photovoltaic modules according to their sizes, and obtain high-precision visual positioning data by analyzing the module edges and projection edges of the collected image data. The visual positioning data and the mechanical positioning data obtained by mechanical positioning are fused to obtain more reliable optimized positioning data that combines vision and mechanics. The mechanical positioning is adjusted according to the optimized positioning data, thereby integrating the advantages of mechanical positioning and visual positioning, compensating for the slight errors in mechanical positioning when there are slight deformations at the module edges that lead to irregular edges, significantly improving the accuracy and stability of positioning, and thus improving the quality of subsequent processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 is a flow chart of a hybrid positioning method for a photovoltaic module processing process disclosed in an embodiment of the present disclosure;

[0048] Figure 2 is a flow chart of another hybrid positioning method for photovoltaic module processing disclosed in an embodiment of the present disclosure;

[0049] Figure 3 It is a block diagram of the composition of a hybrid positioning device for a photovoltaic module processing process disclosed in an embodiment of the present disclosure;

[0050] Figure 4 It is a block diagram of another hybrid positioning device for photovoltaic module processing disclosed in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0051] The following is a further detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to exemplarily illustrate the principles of the present disclosure, but cannot be used to limit the scope of the present disclosure. The present disclosure can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

[0052] The present disclosure provides these embodiments to make the present disclosure thorough and complete, and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary, and not as limiting.

[0053] It should be noted that, in the description of the present disclosure, unless otherwise specified, the meaning of "multiple" is greater than or equal to two; the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0054] In addition, the words "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" does not mean vertical in the strict sense, but is within the tolerance range. "Parallel" does not mean parallel in the strict sense, but is within the tolerance range. "Include" or "comprising" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements.

[0055] It should also be noted that in the description of the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0056] All terms used in the present disclosure have the same meanings as those understood by those of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, for example, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined as such herein.

[0057] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0058] At present, the traditional photovoltaic module positioning method mainly relies on mechanical positioning, that is, fixing the photovoltaic module in a preset position through a platform, positioning pins and a clamping mechanism. However, this method is greatly affected by mechanical errors, especially when there is slight deformation at the edge of the module, resulting in irregular edges. For example, slight deformation caused by the flow of EVA (ethylene-vinyl acetate) at the edge of the module at high temperature will lead to low positioning accuracy and stability of the photovoltaic module, thus affecting the quality of subsequent processing.

[0059] After research, the inventor found that it is possible to perform structured light projection on photovoltaic modules based on mechanical positioning of photovoltaic modules and obtaining mechanical positioning data, and to analyze the module edge and projection edge by collecting corresponding image data to obtain corresponding visual positioning data, and to fuse the original mechanical positioning data with the visual positioning data obtained by analysis to obtain an optimized positioning data that combines mechanical and visual, and to adjust the mechanical positioning based on the optimized positioning data, and at the same time use the optimized positioning data as the basic data for subsequent processing of the photovoltaic modules. In this way, the advantages of mechanical positioning and visual positioning can be integrated, and the slight error of mechanical positioning when there is slight deformation at the edge of the module resulting in irregular edges can be compensated, which significantly improves the accuracy and stability of positioning, and thus improves the quality of subsequent processing.

[0060] Based on the above considerations, the embodiments of the present disclosure provide a hybrid positioning method and device for the photovoltaic module processing process. A photovoltaic module quality detection method and device provided in the embodiments of the present application is suitable for an automatic positioning system deployed due to the need for positioning during the photovoltaic module processing process. The automatic positioning system is not only deployed with an air-floating support platform, adaptive positioning pins, and a flexible clamping mechanism related to mechanical positioning, but also with a high-precision camera array and a structured light projector related to visual positioning. Among them, the air-floating support platform is used to support the photovoltaic module through an air film, the adaptive positioning pins are used to contact and fix the edges of the photovoltaic module, the flexible clamping mechanism is used to press and fix the surface of the photovoltaic module, the structured light projector is used to project the photovoltaic module after mechanical positioning, and the high-precision camera array is used to capture images of the projected photovoltaic module from multiple angles.

[0061] like Figure 1 As shown, the embodiment of the present disclosure provides a hybrid positioning method for a photovoltaic module processing process, by which the positioning accuracy and stability of the photovoltaic module can be improved, thereby improving the subsequent processing quality. The specific execution steps include:

[0062] 101. Perform preliminary mechanical positioning of the photovoltaic module according to the size information of the photovoltaic module, and obtain mechanical positioning data corresponding to the photovoltaic module.

[0063] In this step, since the automatic positioning system is deployed with an air-floating support platform, an adaptive positioning pin and a flexible clamping mechanism related to mechanical positioning. Therefore, the photovoltaic module is placed on the air-floating support platform, which is supported by an air film, and the size information of the photovoltaic module, including length, width, thickness, etc., is input to the automatic positioning system. This information can be obtained by pre-measurement or from the production plan, and the size information is used to determine the moving length of the flexible clamping mechanism and the adaptive positioning pin to ensure that the photovoltaic module is on the air-floating support platform. Specifically, when the positions of the air-floating support platform, the flexible clamping mechanism and the adaptive positioning pin are known to each other, the moving length of the adaptive positioning pin can be calculated according to the length and width in the input size information, so that the positioning pin can contact and fix the edges of the photovoltaic module, and then the moving length of the flexible clamping mechanism can be calculated according to the thickness in the input size information, so that the clamping mechanism can press and fix the surface of the photovoltaic module. By moving the adaptive positioning pin and the flexible clamping mechanism to their respective preset positions, the preliminary mechanical positioning of the photovoltaic module can be achieved.

[0064] The initial position information and initial posture information, i.e., mechanical positioning data, can be obtained through the position feedback of the adaptive positioning pin and the flexible clamping mechanism. Specifically, it can be obtained through the photoelectric sensor installed on the adaptive positioning pin and the inclination sensor or gyroscope installed on the flexible clamping mechanism. The initial position information can be the center position (x, y coordinates) of the photovoltaic module, or the multiple edge positions (x, y coordinates) where the positioning pin contacts the photovoltaic module. The initial posture information specifically refers to the tilt angle (θ) of the photovoltaic module, i.e., the flatness.

[0065] In addition, when determining the initial position information and the initial posture information, the errors caused by thermal expansion of components in direct contact with the photovoltaic components, such as the adaptive positioning pins and the flexible clamping mechanism, can be compensated. That is, the thermal expansion amount is determined by their thermal expansion coefficient and temperature change, and the thermal expansion amount is introduced into the initial position information and the initial posture information, thereby further improving the accuracy of determining the initial position information and the initial posture information.

[0066] 102. Capture structured light projection images of the photovoltaic components after mechanical positioning, and determine visual positioning data of the photovoltaic components based on component edges and projection edges in the image data.

[0067] In this step, the photovoltaic module has been preliminarily mechanically positioned. At this time, the structured light projector can be started. The structured light projector can project the photovoltaic module using projection modes such as laser and stripes to generate clear projection contours and component contours. Use a high-precision camera array to capture the projected photovoltaic module image from multiple angles to capture the complete edge contour of the photovoltaic module and the edge of the projection pattern. Specifically, the collected image data can be preprocessed, including grayscale, denoising, edge detection, etc., such as using a contour detection algorithm (such as OpenCV's findContours function) or an edge detection algorithm (Canny operator, Sobel operator, etc.) to extract the component edge and the projection pattern edge, and select the largest contour as the edge contour of the photovoltaic module, and the contour inside it as the projection pattern contour. According to the edge contour of the component, the visual center position or visual edge position of the photovoltaic module is calculated, such as using the centroid formula to calculate the center point coordinates (x_v, y_v) as visual position information. At the same time, the visual tilt angle of the photovoltaic module is calculated according to the edge contour of the projection pattern, such as using the least squares method to fit the straight line of the edge contour of the projection pattern, and converting the slope of the calculated straight line into the tilt angle (θ_v) as the visual posture information. Thus, the visual positioning data of the photovoltaic module is obtained.

[0068] In addition, when determining the visual position information and visual posture information based on the collected image data analysis, since vibration will be generated during mechanical positioning, and the vibration will affect the image analysis results, in order to further ensure the accuracy of the visual position information and visual posture information, the vibration frequency of the flexible clamping mechanism and the adaptive positioning pin can also be collected, and the visual position information and visual posture information can be compensated based on the vibration frequency to obtain more accurate high-precision visual positioning data.

[0069] 103. The mechanical positioning data and the visual positioning data are integrated to obtain the positioning optimization data corresponding to the photovoltaic module.

[0070] In this step, the Kalman filter algorithm or other fusion algorithms, including example filtering, weighted averaging, neural network model, etc., can be used to fuse the mechanical positioning data and the visual positioning data, and the final position information and attitude information of the photovoltaic module can be calculated based on the fused data, so as to obtain the positioning optimization data that can be used to determine the real position and attitude of the photovoltaic module. The positioning optimization data includes the final center position (x_opt, y_opt) or edge position (x_opt, y_opt), and the final tilt angle (θ_opt).

[0071] 104. Adjust the mechanical positioning based on the positioning optimization data, and use the positioning optimization data as the basic processing data to facilitate the subsequent precise processing of photovoltaic modules.

[0072] In this step, the initial mechanical positioning is fine-tuned based on the positioning optimization data obtained after fusion, that is, the moving length of the adaptive positioning pin and the flexible clamping mechanism is adjusted again to ensure that the photovoltaic module is in the best position. At the same time, the positioning optimization data is used as the basic data for subsequent processing to guide the processing equipment to perform precise operations.

[0073] It should be noted that since both mechanical positioning and visual positioning will have certain errors, the positioning optimization data obtained after the fusion of the two is also the same. That is to say, the adjustment of mechanical positioning may require multiple times to meet the standard. Therefore, in order to ensure the accuracy of positioning, after each adjustment of mechanical positioning, the adjusted photovoltaic components can be re-performed with visual positioning, and the new visual positioning data can be compared with the positioning optimization data, that is, to determine whether the deviation between the new visual positioning data and the positioning optimization data meets the accuracy standard. If not, repeat steps 102-104 and perform iterative optimization until the accuracy standard is met.

[0074] Based on the above Figure 1It can be seen from the implementation method that the embodiment of the present disclosure provides a hybrid positioning method for the photovoltaic component processing process, which first performs preliminary mechanical positioning on the photovoltaic component according to the size information of the photovoltaic component, and obtains the mechanical positioning data corresponding to the photovoltaic component, then performs structured light projection image acquisition on the photovoltaic component after mechanical positioning, and determines the visual positioning data of the photovoltaic component based on the component edge and the projection edge in the image data, then fuses the mechanical positioning data with the visual positioning data to obtain the positioning optimization data corresponding to the photovoltaic component, and finally adjusts the mechanical positioning based on the positioning optimization data, and uses the positioning optimization data as the basic processing data to facilitate the subsequent precise processing of the photovoltaic component. Through the technical solution provided by the present invention, it is possible to perform structured light projection on the photovoltaic modules based on the mechanical positioning of the photovoltaic modules according to their sizes, and obtain high-precision visual positioning data by analyzing the module edges and projection edges of the collected image data. The visual positioning data and the mechanical positioning data obtained by mechanical positioning are fused to obtain more reliable optimized positioning data that combines vision and mechanics. The mechanical positioning is adjusted according to the optimized positioning data, thereby integrating the advantages of mechanical positioning and visual positioning, compensating for the slight errors in mechanical positioning when there are slight deformations at the module edges that lead to irregular edges, significantly improving the accuracy and stability of positioning, and thus improving the quality of subsequent processing.

[0075] like Figure 2 As shown, the preferred embodiment of the present disclosure is in the above Figure 1 Based on this, a detailed description of the hybrid positioning process of photovoltaic module processing is given, and its specific implementation steps include:

[0076] 201. When the photovoltaic module is placed on the air-floating support platform, the flexible clamping mechanism and the adaptive positioning pin are activated. In this step, when the photovoltaic module is placed on the air-floating support platform, the module can be preliminarily aligned manually or using auxiliary tools to ensure that the module is roughly located at the preset position, and the flexible clamping mechanism and the adaptive positioning pin are activated to be in a standby state, ready to fix the module against the edge and contact the edge. At the same time, the flexible clamping mechanism and the adaptive positioning pin are calibrated to ensure that each part of the flexible clamping mechanism and the adaptive positioning pin is in normal working condition to avoid positioning errors caused by mechanism failure.

[0077] 202. Determine the corresponding moving lengths of the flexible clamping mechanism and the adaptive positioning pin according to the size information. In this step, the size information can be obtained by pre-measurement or from the production plan and input into the automatic positioning system, including the length of the photovoltaic module, the width of the photovoltaic module, and the thickness of the photovoltaic module.

[0078] Flexible clamping mechanisms are usually used to press and fix the surface of photovoltaic modules. The moving length of the clamping mechanism needs to ensure that the clamping mechanism can accurately press against the surface of the module, while avoiding deformation or damage to the module due to excessive clamping. Specifically, the position of the clamping point is determined according to the thickness and design requirements of the photovoltaic module. Usually, the clamping points are distributed at the four corners or edges of the module. According to the position of the clamping point and the initial position of the clamping mechanism, the moving distance of each clamping mechanism is calculated. The specific formula is: moving length = clamping point position - clamping mechanism initial position.

[0079] Adaptive locating pins are used to fix the edges of photovoltaic modules to ensure that the position of the photovoltaic modules on the platform is accurate, that is, in the preset position. The moving length needs to ensure that the locating pins can contact and fix the edge of the module, while avoiding deformation or damage to the module due to excessive compression. Specifically, the position of the locating pins is determined according to the length, width and design requirements of the photovoltaic module. Usually, the locating pins are distributed at the four corners or edges of the photovoltaic module. According to the position of the locating pins and the initial position of the locating pins, the moving distance of each locating pin is calculated. The specific formula is: moving length = locating pin position - initial position of the locating pin.

[0080] 203. Control the flexible clamping mechanism and the adaptive positioning pins according to the moving length to fix the photovoltaic module at a preset position on the air-floating support platform to obtain initial position information and initial posture information.

[0081] The initial position information is used to characterize the initial center position of the photovoltaic module, and the initial posture information is used to characterize the initial tilt angle of the photovoltaic module.

[0082] In this step, according to the above two calculated moving lengths, movement instructions are sent to the flexible clamping mechanism and the adaptive positioning pin respectively, so that the two can move accurately according to their corresponding moving lengths, thereby contacting the edges and surfaces of the components to achieve fixation. The photoelectric sensor, encoder, etc. installed on the adaptive positioning pin are used to obtain the initial position information of the photovoltaic component, specifically the center position (x, y coordinates) of the component, and the gyroscope, inclination sensor, etc. installed on the flexible clamping mechanism are used to obtain the initial posture information of the photovoltaic component, including the tilt angle (θ) of the component, to obtain the initial position information and initial posture information.

[0083] 204. Using the initial position information and the initial posture information as mechanical positioning data.

[0084] It should be noted that, when mechanically positioning photovoltaic modules, mechanical components such as flexible clamping mechanisms and adaptive positioning pins are required, and the temperature of the components may rise during the processing, resulting in thermal expansion of the components and affecting the accuracy of the initial position information and initial posture information. In order to avoid this influence, before this step, the method also includes: obtaining the component temperature and thermal expansion coefficient corresponding to the flexible clamping mechanism and the adaptive positioning pin; calculating the thermal expansion amount corresponding to the flexible clamping mechanism and the adaptive positioning pin according to the difference between the component temperature and the reference temperature and the thermal expansion coefficient; compensating the initial position information and initial posture information based on the thermal expansion amount; using the initial position information and initial posture information as mechanical positioning data, including: using the compensated initial position information and initial posture information as mechanical positioning data.

[0085] In this step, temperature sensors are pre-installed at key locations of the flexible clamping mechanism and the adaptive positioning pins to ensure that the temperature of the components can be accurately measured. The temperature sensors should be of high precision and fast response, such as thermocouples or infrared temperature sensors. In practical applications, room temperature or the standard operating temperature of the equipment is usually selected as the reference temperature, that is, Tref = 25 degrees. At the same time, the material manual or the data provided by the supplier can be consulted in advance to obtain the thermal expansion coefficients of the flexible clamping mechanism and the adaptive positioning pins. After determining the component temperature and the thermal expansion coefficient, the difference between the component temperature and the reference temperature can be calculated, and the thermal expansion amount can be calculated using the thermal expansion formula. The thermal expansion formula is: ΔL = α·L0·ΔT, where ΔL is the thermal expansion amount, α is the thermal expansion coefficient, L0 is the original length, and ΔT is the temperature difference. The obtained thermal expansion amount is introduced into the initial position information and the initial posture information to obtain the compensated initial position information and initial posture information, and used as the final mechanical positioning data.

[0086] Exemplarily, the material of the flexible clamping mechanism is aluminum alloy, and its thermal expansion coefficient is: 23×10-6K-1α. Assuming that the material of the adaptive positioning pin is stainless steel, its thermal expansion coefficient is: 17×10-6K-1α; the reference temperature is 25 degrees, the temperature of the flexible clamping mechanism is 30 degrees, and the temperature of the adaptive positioning pin is 28 degrees, then the difference between the two is 5 degrees and 3 degrees respectively; the original length of the flexible clamping mechanism is 50mm, and the original length of the adaptive positioning pin is 50mm; the initial position information is: (x0, y0) = (100mm, 100mm); the initial posture information is: θ = 0°.

[0087] Then, the thermal expansion of the flexible clamping mechanism is:

[0088] 23×10-6K-1·50mm·5K=5.75×10-3mm=0.00575mm;

[0089] The thermal expansion of the adaptive positioning pin is:

[0090] 17×10-6K-1·50mm·3K=2.55×10-3mm=0.00255mm;

[0091] Then, the initial position information after compensation is:

[0092] x0+ΔL=100mm+0.00575mm=100.00575mm;

[0093] y0+ΔL=100mm+0.00255mm=100.00255mm;

[0094] That is, (x0, y0) = (100.00575mm, 100.00255mm);

[0095] The initial posture information after compensation is:

[0096] 0°+L0 / ΔL·π180=0°+0.00575mm / 50mm·π180≈0.00205°;

[0097] That is, θ = 0.00205°.

[0098] By considering the thermal expansion effect during the processing of photovoltaic modules, the accuracy and reliability of mechanical positioning are further ensured, laying the foundation for subsequent visual positioning and data fusion.

[0099] 205. Activate the structured light projector to project the photovoltaic module, and control the multi-angle camera array to capture image data of the projected photovoltaic module.

[0100] In this step, the structured light projector is started, and the structured light projector is located directly above the photovoltaic module. A suitable projection mode is selected, such as laser stripes, barcodes, etc., to ensure the clarity and contrast of the projection pattern. After projection, the multi-angle camera array is started and controlled to capture the projected photovoltaic module image to ensure that the complete edge and projection pattern of the photovoltaic module are captured from multiple angles, and image data is obtained through image acquisition.

[0101] 206. Calculate the gradient magnitude and gradient direction of each pixel in the image data, and extract the edge contour of the photovoltaic module based on the gradient magnitude and gradient direction.

[0102] The edge profile includes a component edge profile and a projection pattern edge profile.

[0103] In this step, the image data is first grayed, and the noise in the image is removed by median filtering, Gaussian filtering and other methods to improve the image quality. Then the edge detection algorithm (such as Sobel operator, Canny operator, etc.) is used to calculate the gradient amplitude and gradient direction of each pixel, wherein the gradient amplitude represents the intensity change degree of each pixel in the image, and the gradient direction represents the intensity change direction of each pixel in the image. After obtaining the gradient amplitude, a pixel threshold can be set according to the gradient amplitude, and the pixel whose gradient amplitude is greater than the threshold is screened out as the edge point. Specifically, after calculating the gradient amplitude, non-maximum suppression can be performed to retain the local maximum value of the gradient amplitude in the gradient direction, and eliminate non-edge points. Two thresholds can also be set, a high threshold and a low threshold. The point whose gradient amplitude is greater than the high threshold is considered to be a strong edge, and the point whose gradient amplitude is between the high threshold and the low threshold is considered to be a weak edge, and only when the weak edge is connected to the strong edge, the weak edge will be retained, and the point whose gradient amplitude is less than the low threshold is considered to be a non-edge point. Finally, an edge connection algorithm (such as the Canny algorithm) is used to connect the edge points into a continuous edge contour, and the edge contour of the photovoltaic module and the edge contour of the projection pattern are extracted. Among all the edge contours, the largest contour is selected as the module edge contour, and the other contours are used as the projection pattern edge contours.

[0104] 207. Determine the visual position information of the photovoltaic module according to the edge contour of the module.

[0105] The visual position information is used to characterize the visual center position of the photovoltaic module. It should be noted that the specific execution process of determining the visual position information of the photovoltaic module according to the edge contour of the module is: determining the visual position information of the photovoltaic module according to the edge contour of the module, including: fitting all edge points in the edge contour of the module to obtain the fitting edge corresponding to the photovoltaic module; calculating the visual center position of the photovoltaic module according to the visual size information corresponding to the fitting edge, and using the visual center position as the visual position information.

[0106] In this step, all edge points of the edge contour of the component are extracted. These edge points are usually a two-dimensional array, and each element contains the coordinates (x, y) of an edge point. The fitting method is selected according to whether the component is regular, including but not limited to polygon fitting, ellipse fitting, B-spline fitting, etc., among which polygon fitting is suitable for components with relatively regular shapes, ellipse fitting is suitable for components with shapes close to ellipses, and B-spline fitting is suitable for components with relatively complex shapes. After obtaining the fitting edge corresponding to the photovoltaic component, its corresponding visual size information can be determined, and the centroid position of the fitting edge can be calculated using the centroid formula as the visual center position of the photovoltaic component.

[0107] 208. Determine visual posture information of the photovoltaic module according to the edge contour of the projection pattern.

[0108] Among them, the visual attitude information is used to characterize the visual tilt angle of the photovoltaic module. It should be noted that the specific execution process of determining the visual attitude information of the photovoltaic module according to the edge contour of the projection pattern is: fitting the straight line edge points in the edge contour of the projection pattern to obtain the fitting straight line corresponding to the straight line edge points; calculating the visual tilt angle corresponding to the photovoltaic module according to the slope of the fitting straight line, and using the visual tilt angle as the visual attitude information.

[0109] In this step, all edge points of the edge contour of the projection pattern are extracted. These edge points are usually a two-dimensional array, and each element contains the coordinates (x, y) of an edge point. Since the projection pattern corresponds to the projection mode, generally stripes or barcodes, that is, the edge of its pattern contains straight lines, Hough Transform or other straight line detection algorithms can be used to extract straight line edge points from the edge points, and the straight line edge points are fitted using the least squares method to obtain a fitted straight line. According to the parameters of the fitted straight line, the slope m of the straight line is calculated. By using the inverse tangent function, the inclination angle of the straight line can be calculated by the slope, that is, θ=arctan(m). It is used as the visual inclination angle.

[0110] 209. Use the visual position information and the visual posture information as visual positioning data.

[0111] It should be noted that since vibration will be generated during mechanical positioning through the flexible clamping mechanism and the adaptive positioning pin, and the vibration will affect the image analysis results, therefore, in order to further ensure the accuracy of determining the visual position information and the visual posture information, before this step, the method also includes: collecting the vibration frequencies corresponding to the flexible clamping mechanism and the adaptive positioning pin respectively; performing vibration compensation on the visual position information and the visual posture information based on the vibration frequency; using the visual position information and the visual posture information as visual positioning data, including: using the compensated visual position information and the visual posture information as visual positioning data.

[0112] In this step, a high-precision vibration sensor is pre-installed at the key parts of the flexible clamping mechanism and the adaptive positioning pin. The vibration sensor can be an accelerometer or a displacement sensor for real-time collection of vibration signals. The collected vibration signal is pre-processed, such as filtering, denoising, etc., to improve the signal quality, and the time domain signal is converted into a frequency domain signal using Fourier transform (FFT) to analyze the vibration frequency. Through spectrum analysis, the main vibration frequencies of the flexible clamping mechanism and the adaptive positioning pin are identified, for example, the main frequency components in the spectrum graph are found using a peak detection algorithm. According to the identified vibration frequency, a vibration model of the flexible clamping mechanism and the adaptive positioning pin is established. The vibration model can be a simplified mathematical model, such as a sine wave model, or a more complex physical model. The vibration model is used to calculate the compensation parameters at different vibration frequencies, the compensation parameters position offset and attitude offset angle, the position offset is subtracted from the visual position information, and the compensated position information is obtained. The attitude offset angle is subtracted from the visual attitude information to obtain the compensated attitude information. The compensated visual position information and visual attitude information are integrated into visual positioning data.

[0113] By considering the impact of vibration on image analysis during image acquisition, the accuracy and reliability of high-precision visual positioning data can be further improved, laying the foundation for subsequent data fusion.

[0114] 210. The Kalman filter algorithm is used to fuse the mechanical positioning data and the visual positioning data to obtain the positioning optimization data.

[0115] The Kalman filter algorithm is a recursive filter that can effectively combine multiple data to provide more accurate and stable positioning results. It can provide the best linear unbiased estimate in the presence of noise and is very suitable for real-time positioning of dynamic systems. Through the two steps of prediction and update, it continuously corrects the estimated value and reduces error accumulation.

[0116] In this step, the state vector can be defined first, including position information and attitude information, that is, the center position and tilt angle. Then initialize the state vector and covariance matrix. The initial state vector can be initialized according to the initial mechanical positioning data or visual positioning data. The initial covariance matrix represents the uncertainty of the initial state and can be set to a larger diagonal matrix. Then define the system model, in which the state transfer matrix describes the change of the state vector within the time step, the control input matrix describes the influence of the control input on the state, and the process noise covariance matrix describes the uncertainty of the system model. Finally, define the observation model, the observation matrix describes the relationship between the observation value and the state vector, and the observation noise covariance matrix describes the uncertainty of the observation value. Use the state transfer matrix and the control input matrix to predict the state vector at the next moment, update the state covariance matrix, and consider the influence of process noise. Calculate the Kalman gain to weigh the predicted value and the observed value. Use the updated state vector as the positioning optimization data.

[0117] 211. Adjust the mechanical positioning based on the positioning optimization data, and use the positioning optimization data as the basic processing data to facilitate the subsequent precise processing of photovoltaic modules.

[0118] This step is combined with the description of step 104 in the above method, and the same content will not be repeated here. It should be noted that since both mechanical positioning and visual positioning will have certain errors, the positioning optimization data obtained after the fusion of the two is also the same, that is, the adjustment of mechanical positioning may require multiple times to meet the standard. Therefore, in order to ensure the accuracy of positioning, after this step, the method also includes: re-capturing the structured light projection image of the photovoltaic component after the positioning adjustment, and determining the new visual positioning data of the photovoltaic component based on the component edge and the projection edge in the image data; judging whether the deviation between the new visual positioning data and the positioning optimization data meets the accuracy standard; if not, fusing the new visual positioning data and the positioning optimization data to obtain the new positioning optimization data corresponding to the photovoltaic component; re-adjusting the mechanical positioning based on the new positioning optimization data until it meets the accuracy standard.

[0119] In this step, the accuracy standard is used to ensure that the final positioning result meets the process requirements. The accuracy standard includes the position accuracy standard and the attitude accuracy standard. Among them, the position accuracy refers to the deviation between the actual position and the expected position of the photovoltaic module. Specifically, a maximum allowable position deviation threshold can be set. If it exceeds the threshold, the positioning is considered inaccurate, usually in millimeters (mm), such as 1mm. Attitude accuracy refers to the deviation between the attitude angle of the photovoltaic module and the expected attitude, and the attitude deviation is usually measured by the angle difference. Similarly, a maximum allowable attitude deviation threshold can be set. If it exceeds the threshold, the positioning is considered inaccurate, usually in degrees (°), such as 0.1°. The position deviation and angle deviation are calculated by the new visual positioning data and the positioning optimization data, and compared with the above-mentioned position accuracy standard and attitude accuracy standard respectively. If they are less than, it means that the accuracy standard is met. Otherwise, it is not reached. At this time, since the positioning optimization data is the new mechanical positioning data, it is re-integrated with the new visual positioning data to obtain the new positioning optimization data, which is used as a cycle until the accuracy standard is met. In this way, it can be determined that the final positioning result of the photovoltaic module meets the process requirements.

[0120] like Figure 3 As shown above, Figure 1-2 The implementation of the method embodiment shown in the figure, the embodiment of the present application provides a hybrid positioning device for the photovoltaic module processing process, which is applied to the automatic positioning system. The device is used to improve the positioning accuracy and stability of the photovoltaic module, thereby improving the subsequent processing quality. The embodiment of the device corresponds to the aforementioned method embodiment. For ease of reading, this embodiment will no longer repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspond to all the contents of the aforementioned method embodiment. The device includes:

[0121] The mechanical positioning unit 31 is used to perform preliminary mechanical positioning of the photovoltaic assembly according to the size information of the photovoltaic assembly and obtain mechanical positioning data corresponding to the photovoltaic assembly;

[0122] A visual positioning unit 32 is used to collect structured light projection images of the photovoltaic components after mechanical positioning, and determine visual positioning data of the photovoltaic components according to the component edges and projection edges in the image data;

[0123] The data fusion unit 33 is used to fuse the mechanical positioning data obtained by the mechanical positioning unit 31 and the visual positioning data obtained by the visual positioning unit 32 to obtain positioning optimization data corresponding to the photovoltaic module;

[0124] The positioning adjustment unit 34 is used to adjust the mechanical positioning based on the positioning optimization data obtained by the data fusion unit 33, and use the positioning optimization data as processing basic data to facilitate the subsequent precise processing of the photovoltaic components.

[0125] like Figure 4 As shown, in some embodiments, the mechanical positioning unit 31 includes:

[0126] An activation module 311 is used to activate the flexible pressing mechanism and the adaptive positioning pin when the photovoltaic module is placed on the air-floating support platform;

[0127] A first determination module 312, used to determine the corresponding moving lengths of the flexible pressing mechanism and the adaptive positioning pin according to the size information after the activation module 311;

[0128] The first control module 313 is used to control the flexible pressing mechanism and the adaptive positioning pin to fix the photovoltaic assembly at a preset position on the air-floating support platform according to the moving length obtained by the first determination module 312, and obtain initial position information and initial posture information, wherein the initial position information is used to represent the initial center position of the photovoltaic assembly, and the initial posture information is used to represent the initial tilt angle of the photovoltaic assembly;

[0129] The first confirmation module 314 is used to use the initial position information and initial posture information obtained by the first control module 313 as mechanical positioning data.

[0130] like Figure 4 As shown, in some embodiments, the device further includes:

[0131] An acquisition module 315 is used to acquire the component temperature and thermal expansion coefficient corresponding to each of the flexible pressing mechanism and the adaptive positioning pin before the first confirmation module 314;

[0132] A calculation module 316 is used to calculate the thermal expansion amount corresponding to the flexible clamping mechanism and the adaptive positioning pin according to the difference between the component temperature and the reference temperature obtained by the acquisition module 315 and the thermal expansion coefficient;

[0133] A first compensation module 317, used to compensate the initial position information and the initial posture information based on the thermal expansion amount obtained by the calculation module 316;

[0134] The first confirmation module 314 is specifically used to:

[0135] The compensated initial position information and initial posture information obtained by the first compensation module 317 are used as mechanical positioning data.

[0136] like Figure 4 As shown, in some embodiments, the visual positioning unit 32 includes:

[0137] The second control module 321 is used to activate the structured light projector to project the photovoltaic assembly, and control the multi-angle camera array to capture the image data of the projected photovoltaic assembly;

[0138] The processing module 322 is used to calculate the gradient amplitude and gradient direction of each pixel in the image data obtained by the second control module 321, and extract the edge contour of the photovoltaic module based on the gradient amplitude and gradient direction, and the edge contour includes the edge contour of the module and the edge contour of the projection pattern;

[0139] A second determination module 323 is used to determine the visual position information of the photovoltaic module according to the edge contour of the module obtained by the processing module 322, where the visual position information is used to characterize the visual center position of the photovoltaic module;

[0140] A third determination module 324 is used to determine the visual posture information of the photovoltaic module according to the edge contour of the projection pattern obtained by the processing module 322, where the visual posture information is used to characterize the visual tilt angle of the photovoltaic module;

[0141] The second confirmation module 325 is used to use the visual position information obtained by the second determination module 323 and the visual posture information obtained by the third determination module 324 as visual positioning data.

[0142] like Figure 4 As shown, in some embodiments, the device further includes:

[0143] A collection module 326, used for collecting the vibration frequencies corresponding to the flexible pressing mechanism and the adaptive positioning pin respectively before the second confirmation module 325;

[0144] A second compensation module 327, used to perform vibration compensation on the visual position information and the visual posture information based on the vibration frequency obtained by the acquisition module 326;

[0145] The second confirmation module 325 is specifically used to:

[0146] The compensated visual position information and visual posture information obtained by the second compensation module 327 are used as visual positioning data.

[0147] like Figure 4 As shown, in some embodiments, the second determination module 323 is specifically used to:

[0148] All edge points in the edge contour of the component are fitted to obtain the fitting edge corresponding to the photovoltaic component; the visual center position of the photovoltaic component is calculated according to the visual size information corresponding to the fitting edge, and the visual center position is used as the visual position information.

[0149] like Figure 4 As shown, in some embodiments, the third determination module 314 is specifically configured to:

[0150] The straight line edge points in the edge contour of the projection pattern are fitted to obtain the fitting straight line corresponding to the straight line edge points; the visual tilt angle corresponding to the photovoltaic module is calculated according to the slope of the fitting straight line, and the visual tilt angle is used as the visual posture information.

[0151] like Figure 4 As shown, in some embodiments, the data fusion unit 33 is specifically used to:

[0152] The Kalman filter algorithm is used to fuse the mechanical positioning data and the visual positioning data to obtain the positioning optimization data.

[0153] like Figure 4 As shown, in some embodiments, the device further includes:

[0154] The visual positioning unit 32 is further used to re-acquire the structured light projection image of the photovoltaic component after the positioning adjustment unit 34, and determine the new visual positioning data of the photovoltaic component according to the component edge and the projection edge in the image data;

[0155] A detection unit 35, used to determine whether the deviation between the new visual positioning data obtained by the visual positioning unit 32 and the positioning optimization data meets the accuracy standard;

[0156] The data fusion unit 33 is further configured to:

[0157] If not, the new visual positioning data and the positioning optimization data are fused to obtain new positioning optimization data corresponding to the photovoltaic module;

[0158] The positioning adjustment unit 34 is further used to:

[0159] Re-adjust the mechanical positioning based on the new positioning optimization data until it meets the accuracy standards.

[0160] The embodiment of the present disclosure also provides a storage medium, which is used to store a computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the above Figure 1-2 Hybrid positioning method for photovoltaic module processing.

[0161] The present disclosure also provides a processor for running a program, wherein the program executes the above Figure 1-2 Hybrid positioning method for photovoltaic module processing.

[0162] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0163] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict.

Claims

1. A hybrid positioning method for photovoltaic module processing, characterized in that: Applied to an automatic positioning system, the method comprises: Performing preliminary mechanical positioning of the photovoltaic assembly according to the size information of the photovoltaic assembly, and obtaining mechanical positioning data corresponding to the photovoltaic assembly; Capturing structured light projection images of the photovoltaic assembly after mechanical positioning, and determining visual positioning data of the photovoltaic assembly based on assembly edges and projection edges in the image data; The mechanical positioning data and the visual positioning data are integrated to obtain positioning optimization data corresponding to the photovoltaic assembly; The mechanical positioning is adjusted based on the positioning optimization data, and the positioning optimization data is used as basic processing data to facilitate subsequent precise processing of the photovoltaic components.

2. The method according to claim 1, characterized in that Performing preliminary mechanical positioning of the photovoltaic assembly according to the size information of the photovoltaic assembly and obtaining mechanical positioning data corresponding to the photovoltaic assembly, including: When the photovoltaic assembly is placed on the air-floating support platform, the flexible clamping mechanism and the adaptive positioning pin are activated; Determine the corresponding moving lengths of the flexible pressing mechanism and the adaptive positioning pin according to the size information; Controlling the flexible clamping mechanism and the adaptive positioning pin according to the moving length to fix the photovoltaic assembly at a preset position on the air-floating support platform to obtain initial position information and initial posture information, wherein the initial position information is used to characterize the initial center position of the photovoltaic assembly, and the initial posture information is used to characterize the initial tilt angle of the photovoltaic assembly; The initial position information and the initial posture information are used as the mechanical positioning data.

3. The method according to claim 2, characterized in that Before using the initial position information and the initial posture information as the mechanical positioning data, the method further includes: Obtaining component temperatures and thermal expansion coefficients corresponding to the flexible pressing mechanism and the adaptive positioning pin; Calculating the thermal expansion amounts corresponding to the flexible clamping mechanism and the adaptive positioning pin respectively according to the difference between the component temperature and the reference temperature and the thermal expansion coefficient; compensating the initial position information and the initial posture information based on the thermal expansion amount; The using the initial position information and the initial posture information as the mechanical positioning data comprises: The compensated initial position information and the initial posture information are used as the mechanical positioning data.

4. The method according to claim 1, characterized in that The photovoltaic assembly after mechanical positioning is subjected to structured light projection image acquisition, and visual positioning data of the photovoltaic assembly is determined according to the assembly edge and the projection edge in the image data, including: activating a structured light projector to project the photovoltaic assembly, and controlling a multi-angle camera array to capture image data of the projected photovoltaic assembly; Calculating the gradient magnitude and gradient direction of each pixel in the image data, and extracting the edge contour of the photovoltaic module based on the gradient magnitude and the gradient direction, wherein the edge contour includes the module edge contour and the projection pattern edge contour; Determining visual position information of the photovoltaic component according to the edge contour of the component, wherein the visual position information is used to characterize the visual center position of the photovoltaic component; Determining visual posture information of the photovoltaic assembly according to the edge profile of the projection pattern, wherein the visual posture information is used to characterize a visual tilt angle of the photovoltaic assembly; The visual position information and the visual posture information are used as the visual positioning data.

5. The method according to claim 4, characterized in that Before using the visual position information and the visual posture information as the visual positioning data, the method further includes: Collecting the vibration frequencies corresponding to the flexible pressing mechanism and the adaptive positioning pin; Performing vibration compensation on the visual position information and the visual posture information based on the vibration frequency; The using the visual position information and the visual posture information as the visual positioning data includes: The compensated visual position information and the visual posture information are used as the visual positioning data.

6. The method according to claim 4, characterized in that Determining visual position information of the photovoltaic component according to the edge contour of the component includes: Fitting all edge points in the edge contour of the component to obtain a fitting edge corresponding to the photovoltaic component; The visual center position of the photovoltaic assembly is calculated according to the visual size information corresponding to the fitting edge, and the visual center position is used as the visual position information.

7. The method according to claim 4, characterized in that Determining visual posture information of the photovoltaic assembly according to the edge contour of the projection pattern includes: Fitting the straight line edge points in the edge contour of the projection pattern to obtain a fitting straight line corresponding to the straight line edge points; The visual tilt angle corresponding to the photovoltaic assembly is calculated according to the slope of the fitting straight line, and the visual tilt angle is used as the visual posture information.

8. A hybrid positioning device for photovoltaic module processing, characterized in that: Applied to an automatic positioning system, the device comprises: A mechanical positioning unit, used to perform preliminary mechanical positioning of the photovoltaic assembly according to the size information of the photovoltaic assembly, and obtain mechanical positioning data corresponding to the photovoltaic assembly; A visual positioning unit, used to collect structured light projection images of the photovoltaic assembly after mechanical positioning, and determine visual positioning data of the photovoltaic assembly according to the assembly edge and the projection edge in the image data; A data fusion unit, configured to fuse the mechanical positioning data obtained by the mechanical positioning unit and the visual positioning data obtained by the visual positioning unit to obtain positioning optimization data corresponding to the photovoltaic assembly; A positioning adjustment unit is used to adjust the mechanical positioning based on the positioning optimization data obtained by the data fusion unit, and use the positioning optimization data as processing basic data to facilitate subsequent precise processing of the photovoltaic component.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the hybrid positioning method for the photovoltaic module processing process as described in any one of claims 1 to 7.

10. A processor, characterized in that: The processor is used to run a program, wherein the program, when running, executes the hybrid positioning method for a photovoltaic module processing process as described in any one of claims 1 to claim 7.

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