A photovoltaic energy storage cable installation process correction system and method

Abstract

The present invention relates to the field of cable installation process correction technology, and in particular to an installation process correction system based on photovoltaic energy storage cables and a method thereof, wherein the system comprises a cable correction mechanism, an image acquisition component and a control component; the method comprises determining the curvature and center correction point of the cable based on the image information; determining whether the installation curvature of the cable meets the standard based on the curvature, determining a number of correction points for the installation curvature that does not meet the standard, and dividing the correction area; determining the working mode of the cable correction mechanism within a single correction area, and correcting the cable one by one under the determined working mode until the installation curvature of the cable meets the standard. The present invention improves the installation accuracy and efficiency of the cable, solves the stress concentration problem of the cable during installation and use, and prolongs the service life of the cable.

Description

Technical Field

[0001] The present invention relates to the technical field of cable installation process correction, and in particular to an installation process correction system and method based on a photovoltaic energy storage cable. Background Art

[0002] Photovoltaic power generation system is a system that converts light energy into electrical energy through photovoltaic panels. In the photovoltaic array, a large number of battery cells produce photoelectric effect through sunlight, which in turn generates current and voltage. These currents and voltages are transmitted to the junction box through cables, and then sent to the inverter to complete the conversion of DC to AC. The converted AC enters the power grid through the transformer. This is the basic working process of the entire photovoltaic power generation system.

[0003] In this process, photovoltaic energy storage cables play a vital role. They are not only responsible for transmitting current and voltage, but also must maintain long-term stable performance in harsh outdoor environments. Therefore, when installing photovoltaic energy storage cables, special attention should be paid to their installation process and correction methods.

[0004] First of all, before installation, you need to choose the right type of cable. This requires determining the appropriate specifications and models based on the power and current of the system, ensuring that the selected cable can withstand the voltage and current of the system, and has good weather resistance and corrosion resistance. At the same time, in order to reduce energy loss, the length of the cable should be minimized, and the solar panels and inverters should be connected nearby.

[0005] Secondly, during the installation process, special attention should be paid to the cable routing path, and crossing, squeezing and twisting should be avoided as much as possible to prevent cable damage or premature wear.

[0006] Before the photovoltaic cable is installed, it will be calibrated according to the design requirements. However, it cannot be guaranteed that the cable will fully meet the standards during the installation process. If adjustments are found during the installation process, a lot of manpower will be required for correction. Therefore, it is necessary to develop an automated and intelligent correction system during the cable installation process to quickly complete the cable correction work, reduce the time and labor costs of manual operations, improve the overall installation accuracy and efficiency, reduce the stress concentration of the cable during installation and use, reduce the risk of cable damage due to uneven force, extend the service life of the cable, and reduce the frequency of replacement and maintenance.

[0007] Chinese Patent Announcement No.: CN116505435B discloses a method and system for correcting the installation process of an intelligent cable, which generates cable trench deployment parameter optimization results and cable bracket deployment parameter optimization results according to the number of cables to be laid, and constructs a cable trench deployment anomaly detection model and a cable bracket deployment anomaly detection model based on the optimization results, inputs the cable trench deployment plan and the cable bracket deployment plan into the corresponding deployment anomaly detection model to obtain the anomaly detection results, and corrects the cable installation plan according to the anomaly detection results. The method solves the technical problem that the decision-making of cable installation and laying in the prior art depends on manual experience, resulting in low efficiency of laying decisions when laying large cables, so that the cable installation takes a long time, reduces the dependence of cable installation and laying decisions on manual experience, improves the scientificity and timeliness of the large-scale cable installation decisions, and indirectly achieves the technical effect of improving the efficiency of large-scale cable laying.

[0008] It can be seen that the installation process correction method and system of the intelligent cable have the following problems: the invention corrects the overall laying path of the cable, solving the problem in the prior art that the decision-making of cable installation and laying depends on manual experience, but lacks monitoring of the local installation of the cable, resulting in low cable installation accuracy and inability to solve the stress concentration problem of the cable during installation and use, resulting in a short service life of the cable. Summary of the invention

[0009] To this end, the present invention provides an installation process correction system and method based on photovoltaic energy storage cables, so as to overcome the lack of monitoring of local installation of cables in the prior art, resulting in low installation accuracy and efficiency of the cables, and failure to solve the stress concentration problem of the cables during installation and use, resulting in a short service life of the cables.

[0010] To achieve the above objectives, on the one hand, the present invention provides an installation process correction system based on a photovoltaic energy storage cable, comprising:

[0011] A cable correction mechanism, used for correcting the bending radius of the cable, comprises a first mechanical arm, a second mechanical arm and a hydraulic rod, the first mechanical arm and the second mechanical arm are hinged by a hinge, a correction head and a universal wheel are respectively arranged at the bottom of the hinge, a first slide rail is arranged at the top of the first mechanical arm, a first pulley is arranged at one end of the first mechanical arm away from the hinge, a second slide rail is arranged at the top of the second mechanical arm, a second pulley is arranged at one end of the second mechanical arm away from the hinge, and both ends of the hydraulic rod are respectively connected to the first slide rail and the second slide rail;

[0012] An image acquisition component, which is arranged on the cable correction mechanism and is used to acquire image information of the cable, wherein the image information includes a plurality of images in a plurality of directions around the cable;

[0013] A control component is connected to the cable correction mechanism, determines the curvature and center correction point of the cable based on the image information, determines the installation curvature for cables that do not meet the standards based on the curvature, determines a number of correction points based on the offset distance, divides the correction area based on the correction distance between two adjacent correction points with the center correction point as a reference, and records the areas on both sides of the correction point as a first correction area and a second correction area in a single correction area centered on the correction point, determines a working mode of the cable correction mechanism based on a first offset distance of the first correction area and a second offset distance of the second correction area, and controls the cable correction mechanism to correct the cables one by one according to the working mode, wherein the working mode includes a first working mode in which the first robotic arm and the second robotic arm work symmetrically and a second working mode in which the first robotic arm and the second robotic arm work asymmetrically.

[0014] Furthermore, the control component obtains positions in the images where the cable path does not overlap with the standard path, and for a single non-overlapping position, determines the bending radius of the position based on a single image, counts the bending radii of all images corresponding to the position and compares them, records the minimum bending radius as the curvature of the cable, counts the curvatures of all non-overlapping positions, and records the center point of the position corresponding to the minimum curvature as the center correction point, wherein the standard path is a cable path that meets the cable installation process requirements.

[0015] Further, the control component determines that the installation of the cable does not meet the standard based on the comparison result that the curvature is less than the preset curvature.

[0016] Furthermore, the control component determines several positions where the offset distance is greater than a preset distance as correction points for the installation arc that does not meet the standard.

[0017] Further, the control component takes the central correction point as a reference, and based on the comparison result that the correction distance is less than or equal to the preset correction distance, determines to divide the area to which the two adjacent correction points belong into a single correction area, and sets the central point of the position corresponding to the minimum curvature in the single correction area as the correction base point of the single correction area;

[0018] Based on the comparison result that the correction distance is greater than the preset correction distance, determining to divide the area to which any correction point of two adjacent correction points belongs into a single correction area;

[0019] The area to which the calibration point belongs is a range with the calibration point as the center and the curvature being less than the preset curvature.

[0020] Further, the control component determines the working mode of the cable correction mechanism based on the absolute value of the distance difference between the first offset distance and the second offset distance, wherein:

[0021] Determining that the cable correction mechanism operates in the second operating mode based on a comparison result that the absolute value of the distance difference is greater than a first preset absolute value;

[0022] Based on the comparison result that the absolute value of the distance difference is less than or equal to the first preset absolute value, it is determined that the cable correction mechanism operates in the first operating mode.

[0023] Further, the control component determines, in the second working mode, that the hydraulic rod is tilted in a direction close to the first pulley along the first slide rail based on a comparison result that the first offset distance is greater than the second offset distance;

[0024] Determining that the hydraulic rod is tilted in a direction close to the second pulley along the second slide rail based on a comparison result that the second offset distance is greater than the first offset distance;

[0025] The first mechanical arm acts on the first calibration area, and the second mechanical arm acts on the second calibration area.

[0026] Further, the control component determines that the hydraulic rod is tilted at a first angle based on a comparison result that the absolute value of the distance difference is greater than a second preset absolute value;

[0027] Determining that the hydraulic rod is tilted at a second angle based on a comparison result that the absolute value of the distance difference is less than or equal to the second preset absolute value and greater than the first preset absolute value;

[0028] The value range of the first angle is [10°, 20°], and the value range of the second angle is [21°, 40°].

[0029] Furthermore, after the control component performs a calibration once with the center calibration point as the reference point, it obtains the cable image after the calibration, determines the center calibration point again, and performs a second calibration with the center calibration point as the reference until the installation curvature of the cable meets the standard.

[0030] In another aspect, the present invention provides a method for applying an installation process correction system based on a photovoltaic energy storage cable, comprising:

[0031] determining the curvature and center correction point of the cable based on the image information;

[0032] Determine whether the installation curvature of the cable meets the standard based on the curvature, determine a number of correction points based on the offset distance for the installation curvature that does not meet the standard, and divide the correction area based on the correction distance between two adjacent correction points with the central correction point as the reference;

[0033] The working mode of the cable correction mechanism is determined in a single correction area based on a first offset distance of the first correction area and a second offset distance of the second correction area, and the cables are corrected one by one in the determined working mode until the installation curvature of the cables meets the standard.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows: the cable correction mechanism used in the present invention determines the position where the cable is bent by collecting image information in various directions of the cable, and determines the position with the most serious bending situation among several bending positions, and extends the correction to both sides with the position as the center correction point, and starts the correction from the most serious position, giving priority to solving the key problems in the cable to avoid the spread or deterioration of the problem, thereby ensuring the overall performance and safety of the cable, and starting the correction from the place where the problem is most serious. The force of a single correction will extend with the cable, and there will also be force acting on the positions on both sides with less serious problems. There will be a situation where the place with the most serious problem is corrected to meet the standard, and the surrounding places with less serious problems will meet the standard without the need for re-correction. By making a judgment again after one correction, and correcting in an orderly manner from the most serious position to both sides, it can avoid the problem of repeated processing of the corrected position and / or over-correction of the uncorrected position in the subsequent correction process.

[0035] Furthermore, the present invention, by providing an image detection component, a first pulley, a second pulley and a control component, can enable the cable correction mechanism to automatically monitor and move on the overhead cable, thereby quickly completing the cable correction work, reducing the time and labor costs of manual operations, improving the overall installation accuracy and efficiency, solving the stress concentration problem of the cable during installation and use, and extending the service life of the cable.

[0036] Furthermore, the present invention defines a correction area by the correction distance between two adjacent correction points. For areas with a small correction distance, the area to which the two adjacent correction points belong is divided into one correction area, and correction is performed based on the central correction point. Through the transfer of force, the adjacent correction points can be made to meet the standards with slight correction or without correction, thereby improving the installation accuracy and efficiency of the cable, solving the stress concentration problem of the cable during installation and use, and extending the service life of the cable.

[0037] Furthermore, the present invention avoids the problem of repeated processing of already corrected positions and / or over-correction of uncorrected positions in subsequent correction processes by re-testing and re-calibrating after one correction, thereby improving the installation accuracy and efficiency of the cable, solving the problem of stress concentration of the cable during installation and use, and extending the service life of the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1It is a structural schematic diagram of an installation process correction system based on a photovoltaic energy storage cable according to an embodiment of the present invention;

[0039] Figure 2 It is a structural schematic diagram of part A of an embodiment of the present invention;

[0040] Figure 3 A flow chart of a method for using an installation process correction system of a photovoltaic energy storage cable according to an embodiment of the present invention;

[0041] Figure 4 A flow chart for determining whether the installation of a cable complies with standards according to an embodiment of the present invention;

[0042] Figure 5 A flow chart for determining the working mode of the cable correction mechanism according to an embodiment of the present invention;

[0043] In the figure: 1. first robotic arm; 2. second robotic arm; 3. correction head; 4. universal wheel; 5. first pulley; 6. first slide rail; 7. hydraulic rod; 8. image acquisition component; 9. second slide rail; 10. second pulley; 71. rolling bearing; 72. worm; 73. connecting rod; 74. rack. DETAILED DESCRIPTION

[0044] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0046] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0047] In addition, it should be noted that in the description of the present invention, 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 a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] See also Figure 1-Figure 4 As shown, Figure 2 It is a structural schematic diagram of part A of an embodiment of the present invention; Figure 3 A flow chart of a method for using an installation process correction system of a photovoltaic energy storage cable according to an embodiment of the present invention; Figure 4 A flow chart for determining whether the installation of a cable complies with standards according to an embodiment of the present invention; Figure 5 The present invention is a flowchart for determining the working mode of the cable correction mechanism according to an embodiment of the present invention.

[0049] On the one hand, an embodiment of the present invention provides an installation process correction system based on a photovoltaic energy storage cable, comprising:

[0050] A cable correction mechanism, used for correcting the bending radius of the cable, comprises a first mechanical arm 1, a second mechanical arm 2 and a hydraulic rod 7, wherein the first mechanical arm 1 and the second mechanical arm 2 are hinged by a hinge, and a correction head 3 and a universal wheel 4 are respectively provided at the bottom of the hinge, a first slide rail 6 is provided at the top of the first mechanical arm 1, a first pulley 5 is provided at the bottom of one end of the first mechanical arm 1 away from the hinge, a second slide rail 9 is provided at the top of the second mechanical arm 2, and a second pulley 10 is provided at one end of the second mechanical arm 2 away from the hinge, and both ends of the hydraulic rod 7 are respectively connected to the first slide rail 6 and the second slide rail 9;

[0051] An image acquisition component, which is arranged on the cable correction mechanism and is used to acquire image information of the cable, wherein the image information includes a plurality of images in a plurality of directions around the cable;

[0052] A control component is connected to the cable correction mechanism, determines the curvature and center correction point of the cable based on the image information, determines whether the installation curvature of the cable meets the standard based on the curvature, determines a number of correction points for the installation curvature that does not meet the standard based on the offset distance, divides the correction area based on the correction distance between two adjacent correction points with the center correction point as the reference, and within a single correction area, the areas on both sides of the correction point are respectively recorded as the first correction area and the second correction area with the correction point as the center, determines the working mode of the cable correction mechanism based on the first offset distance of the first correction area and the second offset distance of the second correction area, and corrects the cable one by one under the determined working mode, wherein the working mode includes a first working mode in which the first robotic arm 1 and the second robotic arm 2 work symmetrically and a second working mode in which the first robotic arm 1 and the second robotic arm 2 work asymmetrically.

[0053] Specifically, the first pulley 5 and the second pulley 10 are configured as a symmetrical pulley assembly, and the spacing between the pulley assemblies can be adjusted according to the diameter of the cable to ensure the safety of the cable correction mechanism when moving on the cable.

[0054] Specifically, the image acquisition component 8 includes an industrial camera, which is not specifically limited as long as it can obtain high-definition pictures. It is set on a hydraulic rod 7 connected to the robotic arm and can be extended and rotated 360° to ensure that the image information of the cable is obtained in all directions, avoiding inaccurate judgment of the installation curvature status of the cable due to angle problems.

[0055] Specifically, the number of directions is determined according to the image acquisition component 8 used. For example, the image acquisition component 8 can capture 360° image information of the cable in four directions, and the number of directions is 4. It only needs to obtain image information of the cable in all directions, and there is no specific limitation.

[0056] Specifically, the cable correction mechanism used in the present invention determines the location where the cable is bent by collecting image information in various directions of the cable, and determines the location where the bending situation is the most serious among several bending locations, and extends the correction to both sides with the location as the center correction point, starting the correction from the most serious location, giving priority to solving key problems in the cable to avoid the spread or deterioration of the problem, thereby ensuring the overall performance and safety of the cable, and starting the correction from the location where the problem is the most serious. The force of a single correction will extend with the cable, and there will also be force acting on locations on both sides with less serious problems. There may be a situation where the location with the most serious problem is corrected to meet the standard, and the surrounding locations with less serious problems will meet the standard without the need for re-correction. By making a judgment again after one correction, and correcting in an orderly manner from the most serious location to both sides, it can avoid the problem of repeated processing of the corrected locations and / or over-correction of the uncorrected locations in the subsequent correction process.

[0057] Specifically, the control component obtains positions in several images where the cable path does not overlap with the standard path, and for a single non-overlapping position, determines the bending radius of the position based on a single image, counts the bending radii of all images corresponding to the position and compares them, records the minimum bending radius as the curvature of the cable, counts the curvatures of all non-overlapping positions, and records the center point of the position corresponding to the minimum curvature as the center correction point, wherein the standard path is a cable path that meets the cable installation process requirements.

[0058] Specifically, after acquiring the image information, the control component pre-processes the image information to acquire the position information. The pre-processing method includes graying, transformation, filtering and feature extraction processing.

[0059] Specifically, the control component determines that the installation curvature of the cable does not meet the standard based on the comparison result that the curvature is less than the preset curvature;

[0060] Based on the comparison result that the curvature is greater than or equal to the preset curvature, it is determined that the installation curvature of the cable meets the standard.

[0061] Specifically, the value of the preset curvature is determined by experiments according to the model and design requirements of the cable, and is not specifically limited.

[0062] Specifically, the control component determines several positions where the offset distance is greater than a preset distance as correction points for the installation arc that does not meet the standard.

[0063] Specifically, the value range of the preset distance is set to [5 cm, 20 cm], and 6 cm is preferred in the embodiment of the present invention.

[0064] Specifically, the control component uses the central correction point as a reference, and based on the comparison result that the correction distance is less than or equal to the preset correction distance, determines to divide the area to which the two adjacent correction points belong into a single correction area, and sets the central point of the position corresponding to the minimum curvature in the single correction area as the correction base point of the single correction area;

[0065] Based on the comparison result that the correction distance is greater than the preset correction distance, determining to divide the area to which any correction point of two adjacent correction points belongs into a single correction area;

[0066] The area to which the calibration point belongs is a range with the calibration point as the center and the curvature being less than the preset curvature.

[0067] Specifically, the value range of the preset correction distance is set to [30 cm, 150 cm], and 60 cm is preferred in the embodiment of the present invention.

[0068] Specifically, the control component determines the working mode of the cable correction mechanism based on the absolute value of the distance difference between the first offset distance and the second offset distance, wherein:

[0069] Determining that the cable correction mechanism operates in the second operating mode based on a comparison result that the absolute value of the distance difference is greater than a first preset absolute value;

[0070] Based on the comparison result that the absolute value of the distance difference is less than or equal to the first preset absolute value, it is determined that the cable correction mechanism operates in the first operating mode.

[0071] Specifically, the offset distance is calculated as:

[0072] Take the standard cable corresponding to a single calibration area as the horizontal axis, the straight line corresponding to the calibration point as the vertical axis, and the intersection of the vertical and horizontal axes as the origin to establish a rectangular coordinate system. Mark the cable curves that do not meet the standards on the rectangular coordinate system. The ratio of the area to the length of the first calibration area is recorded as the first offset distance, and the ratio of the area to the length of the second calibration area is recorded as the second offset distance.

[0073] Specifically, the value range of the first preset absolute value is set to [3 cm, 6 cm], and 4 cm is preferred in the embodiment of the present invention.

[0074] Specifically, in the second working mode, the control component determines that the hydraulic rod 7 tilts along the direction of the first slide rail 6 approaching the first pulley 5 based on the comparison result that the first offset distance is greater than the second offset distance;

[0075] Based on the comparison result that the second offset distance is greater than the first offset distance, determining that the hydraulic rod 7 is tilted in a direction along the second slide rail 9 approaching the second pulley 10;

[0076] The first robotic arm 1 acts on the first calibration area, and the second robotic arm 2 acts on the second calibration area.

[0077] Specifically, the control component determines that the hydraulic rod 7 is tilted at a first angle based on a comparison result that the absolute value of the distance difference is greater than a second preset absolute value;

[0078] It is determined that the hydraulic rod 7 is tilted at the second angle based on a comparison result that the absolute value of the distance difference is less than or equal to the second preset absolute value and greater than the first preset absolute value.

[0079] Specifically, the value range of the first angle is set to [10°, 20°], and 15° is preferred in the embodiment of the present invention; the value range of the second angle is set to [21°, 40°], and 30° is preferred in the embodiment of the present invention.

[0080] Specifically, after the control component performs a calibration with the center calibration point as the reference point, it obtains the cable image after the calibration, determines the center calibration point again, and performs a second calibration with the center calibration point as the reference until the installation curvature of the cable meets the standard.

[0081] Specifically, the present invention also provides a method for applying an installation process correction system based on a photovoltaic energy storage cable, comprising:

[0082] determining the curvature and center correction point of the cable based on the image information;

[0083] Determine whether the installation curvature of the cable meets the standard based on the curvature, determine a number of correction points based on the offset distance for the installation curvature that does not meet the standard, and divide the correction area based on the correction distance between two adjacent correction points with the central correction point as the reference;

[0084] The working mode of the cable correction mechanism is determined in a single correction area based on a first offset distance of the first correction area and a second offset distance of the second correction area, and the cables are corrected one by one in the determined working mode until the installation curvature of the cables meets the standard.

[0085] Embodiment 1: When the installation process correction system is used to straighten the cable on both sides synchronously, the cable passes through the first pulley 5, the correction head 3 and the second pulley 10, the hydraulic rod 7 is extended, and the hydraulic rod 7 moves toward the tail end of the first robotic arm 1 and the second robotic arm 2 under the drive of the worm gear 72. The correction head 3 moves toward the direction close to the hydraulic rod 7 under the drive of the hydraulic rod 7 to straighten the bent cable.

[0086] Embodiment 2: When the installation process correction system is used to straighten the cable unilaterally, the cable passes through the first pulley 5, the correction head 3 and the second pulley 10. As required, one end of the hydraulic rod 7 is fixed on the first robotic arm 1 or the second robotic arm 2, and the other end is extended. The hydraulic rod 7 is driven by the worm gear 72 to move toward the tail end of the first robotic arm 1 or the second robotic arm 2. The correction head 3 is driven by the hydraulic rod 7 to move toward the hydraulic rod 7 to straighten the bent cable.

[0087] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An installation process correction system based on photovoltaic energy storage cables, characterized in that: include: A cable correction mechanism, used for correcting the bending radius of the cable, comprises a first mechanical arm, a second mechanical arm and a hydraulic rod, the first mechanical arm and the second mechanical arm are hinged by a hinge, a correction head and a universal wheel are respectively arranged at the bottom of the hinge, a first slide rail is arranged at the top of the first mechanical arm, a first pulley is arranged at one end of the first mechanical arm away from the hinge, a second slide rail is arranged at the top of the second mechanical arm, a second pulley is arranged at one end of the second mechanical arm away from the hinge, and both ends of the hydraulic rod are respectively connected to the first slide rail and the second slide rail; An image acquisition component, which is arranged on the cable correction mechanism and is used to acquire image information of the cable, wherein the image information includes a plurality of images around the cable in a plurality of directions; A control component is connected to the cable correction mechanism, determines the curvature and center correction point of the cable based on the image information, determines whether the installation curvature of the cable meets the standard based on the curvature, and determines a number of correction points for the installation curvature that does not meet the standard based on the offset distance, divides the correction area based on the correction distance between two adjacent correction points with the center correction point as a reference, and records the areas on both sides of the correction point as a first correction area and a second correction area in a single correction area centered on the correction point, determines a working mode of the cable correction mechanism based on a first offset distance of the first correction area and a second offset distance of the second correction area, and controls the cable correction mechanism to correct the cable one by one according to the working mode, wherein the working mode includes a first working mode in which the first robotic arm and the second robotic arm work symmetrically and a second working mode in which the first robotic arm and the second robotic arm work asymmetrically.

2. The installation process correction system based on photovoltaic energy storage cable according to claim 1 is characterized in that: The control component obtains positions in the images where the cable path does not overlap with the standard path, determines the bending radius of a single non-overlapping position based on a single image, counts the bending radii of all images corresponding to the position and compares them, records the minimum bending radius as the curvature of the cable, counts the curvatures of all non-overlapping positions, and records the center point of the position corresponding to the minimum curvature as the center correction point, wherein the standard path is a cable path that meets the cable installation process requirements.

3. The installation process correction system based on photovoltaic energy storage cable according to claim 2 is characterized in that: The control component determines that the installation of the cable does not meet the standard based on the comparison result that the curvature is less than the preset curvature.

4. The installation process correction system based on photovoltaic energy storage cable according to claim 3 is characterized in that: The control component determines several positions where the offset distance is greater than a preset distance as correction points for the installation arc that does not meet the standard.

5. The installation process correction system based on photovoltaic energy storage cable according to claim 4 is characterized in that: The control component uses the central correction point as a reference, and determines to divide the area to which the two adjacent correction points belong into a single correction area based on the comparison result that the correction distance is less than or equal to the preset correction distance, and sets the central point of the position corresponding to the minimum curvature in the single correction area as the correction base point of the single correction area; Based on the comparison result that the correction distance is greater than the preset correction distance, determining to divide the area to which any correction point of two adjacent correction points belongs into a single correction area; The area to which the calibration point belongs is a range with the calibration point as the center and the curvature being less than the preset curvature.

6. The installation process correction system based on photovoltaic energy storage cable according to claim 5 is characterized in that: The control component determines the working mode of the cable correction mechanism based on the absolute value of the distance difference between the first offset distance and the second offset distance, wherein: Determining that the cable correction mechanism operates in the second operating mode based on a comparison result that the absolute value of the distance difference is greater than a first preset absolute value; Based on the comparison result that the absolute value of the distance difference is less than or equal to the first preset absolute value, it is determined that the cable correction mechanism operates in the first operating mode.

7. The installation process correction system based on photovoltaic energy storage cable according to claim 6 is characterized in that: The control component determines, in the second working mode, that the hydraulic rod tilts in a direction close to the first pulley along the first slide rail based on a comparison result that the first offset distance is greater than the second offset distance; Determining that the hydraulic rod is tilted in a direction close to the second pulley along the second slide rail based on a comparison result that the second offset distance is greater than the first offset distance; The first mechanical arm acts on the first calibration area, and the second mechanical arm acts on the second calibration area.

8. The installation process correction system based on photovoltaic energy storage cable according to claim 7 is characterized in that: The control component determines that the hydraulic rod is tilted at a first angle based on a comparison result that the absolute value of the distance difference is greater than a second preset absolute value; Determining that the hydraulic rod is tilted at a second angle based on a comparison result that the absolute value of the distance difference is less than or equal to the second preset absolute value and greater than the first preset absolute value; The value range of the first angle is [10°, 20°], and the value range of the second angle is [21°, 40°].

9. The installation process correction system based on photovoltaic energy storage cable according to claim 8 is characterized in that: After the control component performs a calibration once with the central calibration point as the reference point, it obtains the cable image after the calibration, determines the central calibration point again, and performs a secondary calibration with the central calibration point as the reference until the installation curvature of the cable meets the standard.

10. A method for applying the installation process correction system based on photovoltaic energy storage cables according to any one of claims 1 to 9, characterized in that: include: determining the curvature and center correction point of the cable based on the image information; Determine whether the installation curvature of the cable meets the standard based on the curvature, determine a number of correction points based on the offset distance for the installation curvature that does not meet the standard, and divide the correction area based on the correction distance between two adjacent correction points with the central correction point as the reference; The working mode of the cable correction mechanism is determined in a single correction area based on a first offset distance of the first correction area and a second offset distance of the second correction area, and the cables are corrected one by one in the determined working mode until the installation curvature of the cables meets the standard.

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