Photovoltaic cell assembly carrying and intelligent mounting platform

Abstract

The invention provides a photovoltaic cell assembly carrying and intelligent mounting platform, and belongs to the technical field of photovoltaic cell assembly mounting, the photovoltaic cell assembly carrying and intelligent mounting platform comprises a photovoltaic cell assembly carrying platform, a seven-degree-of-freedom platform is arranged below the photovoltaic cell assembly carrying platform, and the seven-degree-of-freedom platform adjusts the angle of the photovoltaic cell assembly carrying platform. The seven-degree-of-freedom platform comprises a circumference adjusting device and a six-degree-of-freedom platform, the circumference adjusting device performs circumferential direction movement on the photovoltaic cell assembly carrying platform, and the six-degree-of-freedom platform performs six-degree-of-freedom direction movement on the photovoltaic cell assembly carrying platform; by integrating the seven-degree-of-freedom moving system, the mounting efficiency can be remarkably improved while the mounting precision is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cell assembly installation, and in particular to a photovoltaic cell assembly transportation and intelligent installation platform. Background Art

[0002] Photovoltaic power generation, as a clean and renewable energy source, has been widely used in recent years. With the development of photovoltaic power generation technology and the expansion of its application scale, the demand for the installation of photovoltaic systems has also increased significantly. The traditional photovoltaic assembly installation process usually relies on manual operation, involving multiple steps such as the transportation, positioning, and fixing of photovoltaic components. This installation method is not only inefficient, but also prone to errors, making it difficult to ensure the installation quality.

[0003] In the prior art, the installation of photovoltaic modules generally includes the following steps: 1. Transportation and handling: The photovoltaic modules are transferred from the warehouse or transport vehicle to the installation site. This process usually relies on manual handling or the use of simple mechanical equipment. 2. Positioning and alignment: At the installation site, the photovoltaic modules are manually positioned and aligned to ensure that the modules can be installed at the predetermined angle and position. This process is easily affected by the experience and skills of the operator, which may result in inaccurate installation positions of the photovoltaic modules. 3. Fixing and adjustment: After positioning, the photovoltaic modules need to be fixed and their angles adjusted. This process also relies on manual operation, and the adjustment process may be affected by environmental factors such as wind speed and temperature. The above installation method has the following problems: 1. Low efficiency. The manual operation process is cumbersome and time-consuming, and the overall installation speed is slow. 2. Insufficient precision. Manual operation is prone to errors, and it is difficult to ensure the accurate positioning and installation angle of the photovoltaic modules. 3. High labor intensity. Long-term manual handling and adjustment work requires high physical strength and endurance of the operator. 4. High installation cost. Due to the need for a large amount of manual input and on-site adjustment, the installation cost is high.

[0004] In order to overcome the problems of manual installation, photovoltaic installation automation equipment has gradually appeared on the market. Although some automation equipment can improve installation efficiency, there are still certain limitations, such as insufficient flexibility of equipment and limited ability to adapt to different installation environments. Existing automation platforms often have certain deficiencies in equipment movement, component positioning and precision control of the installation process. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to address the deficiencies of the prior art and provide a photovoltaic cell assembly transport and intelligent installation platform, which can significantly improve installation efficiency while ensuring installation accuracy by integrating a seven-degree-of-freedom mobile system.

[0006] Technical solution: The photovoltaic cell assembly carrier described in the present invention includes a photovoltaic cell assembly carrier platform, a seven-degree-of-freedom platform is arranged below the photovoltaic cell assembly carrier platform, the seven-degree-of-freedom platform adjusts the angle of the photovoltaic cell assembly carrier platform, the seven-degree-of-freedom platform includes a circumferential adjustment device and a six-degree-of-freedom platform, the circumferential adjustment device performs a circumferential movement on the photovoltaic cell assembly carrier platform, and the six-degree-of-freedom platform performs a six-degree-of-freedom direction movement on the photovoltaic cell assembly carrier platform;

[0007] The circular adjustment device includes a power motor, the output end of which is connected to a gear, the gear is meshed with an inner gear ring, and the inner gear ring is fixedly connected to the lower surface of the photovoltaic cell assembly carrying platform; it also includes a thrust bearing, which is arranged in the middle of the lower surface of the photovoltaic cell assembly carrying platform, one end of the thrust bearing is connected to the photovoltaic cell assembly carrying platform, and the other end of the thrust bearing is connected to the six-degree-of-freedom platform. The power motor adopts a servo motor, which is driven by the meshing of the gear and the inner gear ring. When the output end of the power motor drives the gear to drive the inner gear ring to rotate, the photovoltaic cell assembly carrying platform will perform continuous circular motion around the top of the six-degree-of-freedom platform. This direct drive method can provide precise speed and position control.

[0008] The six-degree-of-freedom platform includes a first I-beam device, which is connected to a second I-beam device via an electric cylinder, and the two ends of the electric cylinder are connected to the first I-beam device and the second I-beam device via a universal joint coupling. The electric cylinder cooperates with the telescopic movement, so that the photovoltaic cell assembly carrying platform can achieve six degrees of freedom. The setting of the thrust bearing provides stable support, ensuring the stability and reliability of the photovoltaic cell assembly carrying platform when performing circular motion.

[0009] Furthermore, the first I-beam device and the second I-beam device have the same structure, including three I-beams, the fixed ends of the I-beams are connected in a Y shape, the free ends of the I-beams are fixedly connected with fixed blocks, and two universal joint couplings are symmetrically arranged on the fixed blocks; the fixed block on the first I-beam device is an upper fixed block, the universal joint coupling on the first I-beam device is a first universal joint coupling, the fixed block on the second I-beam device is a lower fixed block, and the universal joint coupling on the second I-beam device is a second universal joint coupling. The Y-shaped connection between the upper and lower I-beam devices provides a stable fixed end, which enhances the stability of the entire structure, which is essential for carrying heavy loads or maintaining structural integrity under dynamic load conditions; the universal joint coupling has a large angular compensation capability, a compact structure, and high transmission efficiency, which helps to improve the working efficiency of the entire system and reduce energy loss; the design of the entire six-degree-of-freedom platform allows the I-beam device to have better flexibility and adaptability in space, and can adapt to different connection and installation requirements.

[0010] Furthermore, one end of two electric cylinders is fixed on the upper fixed block, and the other ends of the two electric cylinders are respectively fixed on two adjacent lower fixed blocks. This arrangement enables the upper and lower I-beam devices to be placed crosswise, and the degree of freedom can be adjusted more accurately.

[0011] Furthermore, a platform base is provided below the second I-beam device to facilitate the fixing and disassembly of the entire carrying and transporting truck.

[0012] Furthermore, the electric cylinder is composed of a motor, a reducer, an electric push rod, an electric cylinder body and a slider. The function of the motor is to generate the required torque. The function of the reducer is to reduce the speed and torque of the motor to an acceptable range. The function of the electric push rod is to convert the energy of the motor into linear motion. The function of the slider is to convert the linear motion of the electric push rod into the circular motion of the cylinder. The electric push rod is extended and retracted in the electric cylinder body to adjust the angle of the first I-beam device.

[0013] An intelligent installation platform for photovoltaic cell assemblies includes the above-mentioned photovoltaic cell assembly carrier and PID controller, and the photovoltaic cell assembly carrier is set on a transport truck. The PID controller can be installed in an independent chassis or control box on the truck, close to the connection area of ​​the sensor and the actuator, so as to optimize the signal transmission and response speed. The control box usually has a good heat dissipation design and protective structure to meet the needs of various construction environments. The design of the truck takes into account functions such as earthquake resistance and anti-tilt to ensure the safety of photovoltaic modules during transportation and reduce the risk of damage. The transport truck carries the photovoltaic panel longitudinally and moves it to the front of the installation column. The PID controller generally uses a high-performance industrial-grade CPU or embedded processor suitable for real-time control, and an ARM architecture processor (such as NVIDIA Jetson or Xilinx Zynq) can be selected.

[0014] Furthermore, a lidar sensor is installed on the roof of the transport truck, which can rotate 360° to scan the surrounding environment and obtain accurate depth information, determine the spatial position of the pillars, measure the distance between the transport platform and the pillars, and provide real-time feedback of position data to ensure the accurate docking distance between the photovoltaic panels and the pillars.

[0015] Furthermore, a tilt sensor is provided on the photovoltaic cell assembly carrier and installed at the upper end of the photovoltaic cell assembly carrier platform. A capacitive tilt sensor or a MEMS tilt sensor can be selected.

[0016] During the installation process, the PID control system monitors the tilt of the photovoltaic cell assembly platform in real time through the inclination sensor. If the photovoltaic cell assembly platform tilts due to uneven ground or external forces, the PID control system will immediately make dynamic adjustments to ensure that the installation accuracy is not affected.

[0017] PID controller is used to adjust the output of the system to achieve the desired target value. In the application of controlling the 7-DOF platform, PID controller can effectively achieve precise positioning and dynamic response.

[0018] Proportional control (P): Adjust according to the current error (the difference between the target value and the actual value). The larger the error, the greater the output. The formula is:

[0019] P out =K p ×e(t) where K p is the proportional gain and e(t) is the error.

[0020] Integral control (I): adjusts the output according to the accumulation of error over time to eliminate static error. The formula is:

[0021] I out =K i ∫e(t)dt

[0022] Among them, K i is the integral gain.

[0023] Derivative control (D): Adjusts based on the rate of change of the error to predict the future behavior of the system, thereby reducing overshoot and oscillation. The formula is:

[0024]

[0025] Among them, K d is the differential gain.

[0026] The total output of the PID controller is the sum of three parts:

[0027] Output=P out +I out +D out

[0028] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0029] (1) The present invention is designed with a seven-degree-of-freedom photovoltaic cell assembly carrier. Through the coordinated work of the circumferential adjustment device and the six-degree-of-freedom platform, an integrated automated mechanical platform is formed to realize the seven-degree-of-freedom adjustment function of the photovoltaic cell assembly carrier, which can automatically complete the precise positioning and installation of photovoltaic components without human operation or human intervention. Through the flexible movement of the seven-degree-of-freedom platform, the installation efficiency of photovoltaic components is significantly improved, and the installation cycle is shortened, which is particularly suitable for the rapid deployment of large-scale photovoltaic power generation systems;

[0030] (2) The six-degree-of-freedom platform designed in the present invention can realize longitudinal adjustment, lateral adjustment, height adjustment, front and rear tilt adjustment, left and right tilt adjustment and small-range circumferential rotation; and the circumferential adjustment device can realize the adjustment of the circumferential rotation freedom, thus fully meeting the precision adjustment of photovoltaic panels during installation;

[0031] (3) Using existing technology, the proportional-integral-derivative (PID) control strategy is applied, with sensor data as feedback signals, and the precise docking of photovoltaic panels is achieved by adjusting the movement of each degree of freedom of the platform. PID control can quickly respond to environmental changes and is used to adjust the output of the system to achieve the desired target value. In the application of controlling a seven-degree-of-freedom platform, the PID controller can effectively achieve precise positioning and dynamic response;

[0032] (4) The present invention integrates a seven-degree-of-freedom mobile system, which can significantly improve installation efficiency while ensuring installation accuracy. The present invention aims to solve the problems of low efficiency, insufficient accuracy and high cost in traditional photovoltaic module installation methods, thereby promoting the further development and application of photovoltaic power generation technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of a seven-degree-of-freedom platform;

[0034] Figure 2 It is a schematic diagram of a six-degree-of-freedom platform;

[0035] Figure 3 It is a structural diagram of the intelligent installation platform;

[0036] Figure 4 This is a structural diagram of the intelligent installation platform from another perspective;

[0037] Figure 5 This is a front view of the intelligent installation platform;

[0038] Figure 6 It is the working flow chart of the control system of the present invention;

[0039] In the figure: 1- photovoltaic cell assembly carrying platform, 2- inner gear ring, 301- first I-beam device, 302- second I-beam device, 401- first universal joint coupling, 402- second universal joint coupling, 5- electric push rod, 6- electric cylinder body, 7- platform base, 8- carrying truck, 901- first I-beam, 902- second I-beam, 903- third I-beam, 904- fourth I-beam, 905- fifth I-beam, 906- sixth I-beam, 10- laser radar Sensor, 11-gear, 12-power motor, 13-thrust bearing, 14-tilt sensor, 1501-first fixed block, 1502-second fixed block, 1503-third fixed block, 1504-fourth fixed block, 1505-fifth fixed block, 1506-sixth fixed block, 1601-first electric cylinder, 1602-second electric cylinder, 1603-third electric cylinder, 1604-fourth electric cylinder, 1605-fifth electric cylinder, 1606-sixth electric cylinder. DETAILED DESCRIPTION

[0040] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0041] Example 1 A photovoltaic cell assembly carrier

[0042] like Figure 1 A photovoltaic cell assembly carrier shown in the figure includes a photovoltaic cell assembly carrier platform 1, a seven-degree-of-freedom platform is arranged below the photovoltaic cell assembly carrier platform 1, the seven-degree-of-freedom platform adjusts the angle of the photovoltaic cell assembly carrier platform 1, and the seven-degree-of-freedom platform includes a circumferential adjustment device and a six-degree-of-freedom platform, the circumferential adjustment device makes a circumferential movement on the photovoltaic cell assembly carrier platform 1, and the six-degree-of-freedom platform makes a six-degree-of-freedom movement on the photovoltaic cell assembly carrier platform 1; the circumferential adjustment device includes a power motor 12, the output end of the power motor 12 is connected to a gear 11, the gear 11 is meshed with an inner gear ring 2, and the inner gear ring 2 is fixedly connected to the lower surface of the photovoltaic cell assembly carrier platform 1; a thrust bearing 13 is also arranged in the middle of the lower surface of the photovoltaic cell assembly carrier platform 1. One end of the thrust bearing 13 is connected to the photovoltaic cell assembly carrier platform 1, and the other end of the thrust bearing 13 is connected to the six-degree-of-freedom platform. Figure 1 The amplifying device in the embodiment is a roller. When the motor drives the platform 1 to rotate, the linear speed of the platform 1 is tangential to the direction of the roller rotation, and the roller structure rotates accordingly. The roller can bear the load from the vertical direction of the platform and improve the stability of the platform. It can also assist the platform in rotating to prevent the platform from shaking or being unstable during the rotation process.

[0043] The six-degree-of-freedom platform includes two I-beam devices, namely a first I-beam device 301 and a second I-beam device 302; six I-beams, namely a first I-beam 901, a second I-beam 902, a third I-beam 903, a fourth I-beam 904, a fifth I-beam 905 and a sixth I-beam 906; six fixed blocks, namely a first fixed block 1501, a second fixed block 1502, a third fixed block 1503, a fourth fixed block 1504, a fifth fixed block 1505 and a sixth fixed block 1506; and six electric cylinders, namely a first electric cylinder 1601, a second electric cylinder 1602, a third electric cylinder 1603, a fourth electric cylinder 1604, a fifth electric cylinder 1605 and a sixth electric cylinder 1606. The fixed block on the first I-beam device 301 is an upper fixed block, the universal joint coupling on the first I-beam device 301 is a first universal joint coupling 401, the fixed block on the second I-beam device 301 is a lower fixed block, and the universal joint coupling on the second I-beam device 302 is a second universal joint coupling 402. The electric cylinder includes an electric push rod 5 and an electric cylinder body 6, and a platform base 7 is provided below the second I-beam device 302. Specifically, as Figure 2 In the six-degree-of-freedom platform shown, the first I-beam device 301 includes a first I-beam 901, a second I-beam 902 and a third I-beam 903 connected in a Y shape; the angles between the three I-beams are consistent, all 120°, and are evenly arranged. A first fixing block 1501 is provided at the end of the first I-beam 901, a second fixing block 1502 is provided at the end of the second I-beam 902, and a third fixing block 1503 is provided at the end of the third I-beam 903; two electric cylinders 1601 and 1602 are symmetrically arranged on the first fixing block 1501, two electric cylinders 1603 and 1604 are symmetrically arranged on the second fixing block 1502, and two electric cylinders 1605 and 1606 are symmetrically arranged on the third fixing block 1503. The second I-beam device 302 includes a fourth I-beam 904, a fifth I-beam 905 and a sixth I-beam 906 connected in a Y shape; the angles between the three I-beams are consistent, all 120°, and are evenly arranged. A fourth fixing block 1504 is provided at the end of the fourth I-beam 904, a fifth fixing block 1505 is provided at the end of the fifth I-beam 905, and a sixth fixing block 1506 is provided at the end of the sixth I-beam 906. The other end of the first electric cylinder 1601 is provided on the sixth fixing block 1506, the other end of the second electric cylinder 1602 is provided on the fourth fixing block 1504, the other end of the third electric cylinder 1603 is provided on the fourth fixing block 1504, the other end of the fourth electric cylinder 1604 is provided on the fifth fixing block 1505, the other end of the fifth electric cylinder 1605 is provided on the fifth fixing block 1505, and the other end of the sixth electric cylinder 1606 is provided on the sixth fixing block 1506.

[0044] This embodiment realizes a six-degree-of-freedom adjustment system through the extension and tilting of the six electric cylinders, which is mainly used to control the displacement and angle adjustment of the photovoltaic cell assembly carrying platform 1 to achieve six-degree-of-freedom adjustment, as follows:

[0045] ① Longitudinal adjustment: The photovoltaic cell assembly carrying platform 1 achieves precise movement in the front-to-back direction through the forward and backward tilting of six electric cylinders.

[0046] ② Lateral adjustment: The photovoltaic cell assembly carrying platform 1 achieves precise left-right movement through the left-right tilt of six electric cylinders, ensuring precise adjustment of the installation position of the photovoltaic panel in the lateral space. It is suitable for situations where the position between two columns needs to be adjusted.

[0047] ③ Height adjustment: The photovoltaic cell assembly carrying platform 1 can achieve height adjustment, and the electric cylinder is used to jointly drive the lifting system. After the photovoltaic panel is transported to the installation location by the vehicle, the height adjustment device will lift the photovoltaic panel to a height higher than the column, preparing for subsequent precise installation.

[0048] ④ Forward and backward tilt adjustment: In the six-degree-of-freedom system, the fourth electric cylinder 1604, the fifth electric cylinder 1605, and the sixth electric cylinder 1606 shorten the push rod, and the second electric cylinder 1602, the third electric cylinder 1603, and the first electric cylinder 1601 extend the push rod, so that the photovoltaic cell assembly carrying platform 1 can be tilted forward; similarly, the second electric cylinder 1602, the third electric cylinder 1603, and the first electric cylinder 1601 shorten the push rod, and the fourth electric cylinder 1604, the fifth electric cylinder 1605, and the sixth electric cylinder 1606 extend the push rod, so that the photovoltaic cell assembly carrying platform 1 can be tilted backward.

[0049] ⑤ Left and right tilt adjustment: In the six-degree-of-freedom system, the third electric cylinder 1603, the fourth electric cylinder 1604, and the fifth electric cylinder 1605 shorten the push rod, and the electric cylinder body 5, the second electric cylinder 1602, and the sixth electric cylinder 1606 extend the push rod, so that the photovoltaic cell assembly carrying platform 1 can tilt to the right; similarly, the electric cylinder body 5, the second electric cylinder 1602, and the sixth electric cylinder 1606 shorten the push rod, and the third electric cylinder 1603, the fourth electric cylinder 1604, and the fifth electric cylinder 1605 extend the push rod to achieve the right tilt of the photovoltaic cell assembly carrying platform 1. Ensure that in the case of uneven terrain, the photovoltaic panel can always keep the platform horizontal plane perpendicular to the column, so as to adapt to the uneven ground and ensure the accuracy of installation.

[0050] ⑥ Small-range circumferential rotation: The photovoltaic panel carrying platform 1 can be tilted together by six electric cylinders to achieve circumferential rotation of the photovoltaic cell assembly carrying platform 1 within a small angle range. Through small-range angle adjustment, the photovoltaic panel can be accurately aligned when approaching the installation position.

[0051] ⑦ During the installation process, the photovoltaic panel needs to be rotated from 90 degrees in the longitudinal direction to the horizontal direction, but the circumferential rotation angle of the six-degree-of-freedom platform is limited to about 60 degrees, which cannot meet the requirements, so an additional circumferential rotation degree of freedom is required. This embodiment provides a circumferential large-angle rotation degree of freedom system, that is, a circular adjustment device. The torque output by the power motor 12 is sufficient to drive the photovoltaic panel to complete a 70-degree rotation from the longitudinal direction to the horizontal direction, meeting the needs for angle adjustment during the installation process, and ultimately realizing the seven-degree-of-freedom movement of the photovoltaic panel. In order to reduce friction during rotation, and the load is mainly an axial load from the direction of gravity, this embodiment is equipped with a thrust bearing 13. The thrust bearing 13 effectively ensures the smooth operation of the photovoltaic cell assembly carrying platform 1 during the rotation process, and reduces the friction between the photovoltaic cell assembly carrying platform 1 and the top of the six-degree-of-freedom platform.

[0052] Embodiment 2 A smart installation platform for photovoltaic cell assembly

[0053] like Figure 3 to Figure 5 As shown, an intelligent installation platform for a photovoltaic cell assembly includes the above-mentioned photovoltaic cell assembly carrier and PID controller, and the photovoltaic cell assembly carrier is arranged on a carrier truck 8. A laser radar sensor 10 is arranged on the roof of the carrier truck 8. A tilt sensor 14 is arranged on the photovoltaic cell assembly carrier.

[0054] In the control of the seven-degree-of-freedom platform, the working process of the PID controller is as follows:

[0055] ① Set the target position: According to the specific application, set the target position and posture of the platform.

[0056] ② Get the current status: Use sensors (such as lidar sensors, inclination sensors, laser ranging sensors, etc.) to get the current status (position, angle, etc.) of the platform.

[0057] ③ Calculate error: Compare the current state with the target position and calculate the error value e(t).

[0058] ④PID control output: The control output is calculated by the PID formula to obtain the values ​​of the proportional, integral and differential parts respectively. A control signal is generated according to the control output to drive the actuator (such as electric cylinder, motor, etc.) to adjust the position and posture of the platform.

[0059] ⑤ Feedback adjustment: The system continuously monitors the output status, and provides real-time feedback on the error, constantly adjusting the control signal to reduce the error and achieve target positioning.

[0060] By adopting the PID control system, the seven-degree-of-freedom platform can achieve precise control and positioning, thus meeting the needs of photovoltaic cell assembly transportation and intelligent installation. The flexibility and reliability of PID control make it the preferred control strategy for many automation systems. The detailed workflow of the PID control system is as follows:

[0061] 1. Sensor data reception

[0062] The control system uses the time synchronization module (PTP protocol) to uniformly calibrate the timestamps of the sensor data to ensure that the data of the lidar and tilt sensor can be accurately aligned and collaborate in real time. In terms of hardware, network devices that support the PTP protocol (such as Intel i210 network card or Raspberry Pi real-time expansion module) are used, and industrial-grade lidars compatible with the PTP protocol (such as Velodyne, Ouster) and tilt sensors with timestamp output functions (such as CAN, UART or RS-485 communication modules) are selected to ensure data synchronization between sensors. In the software framework, the PTP support module in the Linux system (such as PTP4L or PHC2SYS tool) is used to achieve time synchronization between master and slave devices, and timestamp alignment logic is added to the sensor driver. In terms of communication protocol, industrial Ethernet protocols (such as EtherCAT or Profinet) are used, and the PTP protocol stack is integrated to ensure high-precision synchronization. Through this solution, accurate synchronization of data from multiple sensors can be achieved. The lidar sensor integrates the data of the tilt sensor and transmits it to the control system through a high-speed communication interface to ensure real-time performance.

[0063] 2. Point cloud filtering

[0064] ① Noise reduction: Use the local smoothing algorithm (MLS) to optimize the surface smoothness of the point cloud, remove noise points, and reduce interference. Moving Least Squares (MLS) is a smoothing algorithm used for point cloud surface reconstruction that can eliminate noise points and generate a smooth point cloud with consistent normal vectors. It optimizes the surface smoothness of the point cloud by fitting the local surface function and adjusting the position of each point.

[0065] ② Downsampling: Use voxel grid filter to reduce the point cloud resolution and reduce the amount of calculation while retaining the overall environmental characteristics.

[0066] ③Truncation filtering: Use the dynamic area limitation algorithm to automatically adjust the filtering range according to the real-time working height range of the photovoltaic platform. According to the preset distance range (such as the working range from the ground to the photovoltaic platform), remove the point cloud that exceeds the working area.

[0067] 3. Point cloud ground segmentation

[0068] The RANSAC plane fitting algorithm is used to separate ground points and obstacle points, retaining the information of the area of ​​interest to facilitate subsequent path planning and obstacle avoidance.

[0069] 4. Target extraction and environment modeling

[0070] ① Pole detection and obstacle detection: Combined with deep learning target detection algorithms (such as YOLO, Mask R-CNN), the required pole positions for photovoltaic installation are identified based on point cloud density and shape features. At the same time, instance segmentation information is provided for obstacle detection, obstacles are identified and marked, and obstacle point information is provided for path planning.

[0071] ② Area division: To further optimize the environmental model, OctoMap-based 3D environmental modeling is adopted. Point cloud is used to generate efficient dynamic 3D occupancy maps, divide the free space and impassable areas in the point cloud data, update the environmental status in real time, and support subsequent path planning and obstacle avoidance functions.

[0072] 5. Deep learning fusion of sensor data (Note: What is the specific content of data fusion processing and analysis)

[0073] Use models such as convolutional neural networks (CNN) or Transformer to extract and fuse features from lidar point cloud data and tilt sensor data. Collect sensor data distributed in multiple scenes, multiple tilt angles, and multiple obstacles, build a large-scale fusion data set, and use self-supervised learning methods to allow the model to automatically learn the correlation characteristics of data in the environment. Finally, optimize the model, and dynamically update the model weights through online learning combined with the platform's real-time working data to improve adaptability. It is worth noting that it is necessary to use a simulation environment (such as Gazebo or CARLA) to generate multi-scene and multi-modal data, and combine real data to enhance the generalization ability of the model. The data fusion method is as follows:

[0074] ①Construct input features: point cloud features (spatial information) + inclination features (attitude information).

[0075] ② Use the network to fuse features of multimodal data and output environment and pose estimation results.

[0076] ③ Input the results into the path planning algorithm and control system.

[0077] 6. Path planning and decision making

[0078] In the deep learning path planning solution based on multi-sensor data, the system can use the data input of lidar and tilt sensor, combined with deep learning algorithms (such as convolutional neural network CNN or recurrent neural network RNN) to generate the optimal path of the photovoltaic carrier platform in real time. The specific process is as follows:

[0079] ①Environmental modeling and obstacle detection: Generate an accurate 3D environmental model based on the fused data, including the location, size, shape, etc. of obstacles and pillars. This model is used as input for the path planning algorithm.

[0080] ② Deep learning path planning: Through the trained deep learning model (such as the CNN-based environment understanding network), the sensor data is processed and the path planning is generated. The network model is trained with a large amount of scene data, and can identify different obstacle patterns, path characteristics, etc., plan the platform's safe route, avoid obstacles and reach the docking target.

[0081] ③ Path output and PID control: The path planning result generates an ideal trajectory and passes it to the PID controller. The PID control system dynamically adjusts the platform's movement speed and direction according to the set path and the platform's current position to reduce deviations and enable the platform to move accurately along the planned path.

[0082] ④ Adaptive trajectory adjustment: During the execution process, PID control corrects the platform position in real time to compensate for path deviation. When encountering obstacles or unpredictable factors, the sensor feedbacks new data, the deep learning model replans the path, and PID control continues to adjust the platform movement to ensure that the platform accurately docks with the column.

[0083] The workflow of this embodiment is as follows:

[0084] 1. The transport truck drives to the center of the pillar, and various sensors (laser ranging, inclination sensor, lidar) work simultaneously to collect environmental information and platform status in real time.

[0085] 2. The LiDAR measures the distance between the column and the mounting platform by emitting laser pulses, and uses existing LiDAR technology to generate accurate three-dimensional point cloud data of the surrounding environment, providing a basis for subsequent path planning.

[0086] 3. LiDAR detects the position, height and surrounding obstacles of the pillars, providing accurate distance and position information.

[0087] 4. Based on the above position information, the platform starts to move. When the platform moves close to the column, the laser radar can detect the distance between the platform and the column in real time, help the control system plan the path, and ensure that collisions are avoided during the docking process.

[0088] 5. The inclination sensor detects the inclination angle of the installation platform in real time to ensure that the platform remains horizontal and stable on uneven or sloping ground, avoiding docking angle deviation caused by terrain influence. The feedback data of the inclination sensor is used to correct the angle of the photovoltaic panel to ensure that the horizontal and vertical angles of the photovoltaic panel match the column during docking with the column to achieve accurate docking.

[0089] 6. The PID control system of the platform uses the three-dimensional point cloud data provided by the laser radar to form a more accurate column position and spatial model. After obtaining the precise data of the laser radar, the control system calculates the spatial error between the photovoltaic panel and the column, and detects whether the platform's posture is stable through the inclination sensor. Based on these feedback data, the control system uses the PID control algorithm to adjust the electric cylinder and power motor, adjust the position and angle of the platform and photovoltaic panel, gradually correct the error, align the photovoltaic panel with the column, and finally realize the seven-degree-of-freedom multifunctional mechanical platform to perform precise installation of photovoltaic panels.

[0090] The control system workflow in this embodiment is as follows: Figure 6 shown.

[0091] 1. System initialization: After the system starts, activate all necessary modules, including sensors, control units, and actuators. Ensure that the communication connection between modules is normal and complete the status verification.

[0092] 2. Installation status assessment: The system uses sensors (such as lidar and inclination sensors) to obtain real-time data on the current installation status, including the position and posture of the photovoltaic panels, and the position and angle of the target columns, to assess whether the installation conditions are met.

[0093] 3. Data fusion and processing: Collect input data from multiple sensors (3D point cloud of LiDAR and data from inclination sensor), then process the 3D point cloud data of LiDAR (point cloud filtering and point cloud ground segmentation); then use deep learning models (such as convolutional neural networks CNN or Transformer) to extract and fuse features of multi-source sensor data. On the one hand, extract spatial geometric features from point cloud data to identify obstacles and target features in the environment (column positions, photovoltaic panel installation points, etc.); on the other hand, combine the data from the inclination sensor to correct the position and posture information of the platform to ensure the global consistency of the data. Through the above process, high-precision environmental information and platform status information are generated, and finally a dynamically updated operating environment model is constructed to provide support for subsequent path planning and control decisions.

[0094] 4. Decision-making: Based on the processed data, the system uses decision logic (using a deep learning path planning solution based on multi-sensor data, the system can use data input from lidar and inclination sensors, combined with deep learning algorithms (such as convolutional neural networks CNN or recurrent neural networks RNN) to generate the optimal path for the photovoltaic carrier platform in real time.) to determine the next action plan, including adjusting the path, correcting the angle, or performing position calibration.

[0095] 5.PID control: Based on the target path and target posture output by the decision, the PID controller takes over the motion control of the platform and moves the platform or adjusts its posture according to the required trajectory through the action output of the rotating motor and electric cylinder.

[0096] 6. Installation completion check: The system uses sensors to confirm the installation status of the photovoltaic panels and the columns again. If the docking position and status meet the preset conditions, the installation is considered successful; otherwise, it returns to the adjustment process.

[0097] 7. Loop processing: If the installation is not completed, the system will return to the installation status evaluation step and continue to optimize the path and actions until the installation is completed.

[0098] 8. Installation confirmation and fixation: After the installation confirmation is completed, the system will perform final fixation on the photovoltaic panels, including locking, reinforcement and other operations to ensure the stability and safety of the photovoltaic panels.

[0099] 9. Feedback on completion of photovoltaic panel installation: After the installation process is completed, the system generates a feedback signal to indicate that the installation is successful and records the results in the system log.

[0100] 10. Loop processing: If the installation is not completed, the system will return to the installation status evaluation step and continue to optimize the path and actions until the installation is completed.

[0101] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A photovoltaic cell assembly transport, characterized by: The photovoltaic cell assembly carrying platform (1) is provided with a seven-degree-of-freedom platform below the photovoltaic cell assembly carrying platform (1), the seven-degree-of-freedom platform adjusts the angle of the photovoltaic cell assembly carrying platform (1), the seven-degree-of-freedom platform comprises a circumferential adjustment device and a six-degree-of-freedom platform, the circumferential adjustment device performs a circumferential movement on the photovoltaic cell assembly carrying platform (1), and the six-degree-of-freedom platform performs a six-degree-of-freedom movement on the photovoltaic cell assembly carrying platform (1); The circumferential adjustment device comprises a power motor (12), the output end of the power motor (12) is connected to a gear (11), the gear (11) is meshed with an inner gear ring (2), and the inner gear ring (2) is fixedly connected to the lower surface of the photovoltaic cell assembly carrying platform (1); and further comprises a thrust bearing (13), the thrust bearing (13) is arranged in the middle of the lower surface of the photovoltaic cell assembly carrying platform (1), one end of the thrust bearing (13) is connected to the photovoltaic cell assembly carrying platform (1), and the other end of the thrust bearing (13) is connected to the six-degree-of-freedom platform; The six-degree-of-freedom platform comprises a first I-beam device (301), wherein the first I-beam device (301) is connected to a second I-beam device (302) via an electric cylinder, and two ends of the electric cylinder are respectively connected to the first I-beam device (301) and the second I-beam device (302) via a universal joint coupling.

2. A photovoltaic cell assembly carrier according to claim 1, characterized in that: The first I-beam device (301) and the second I-beam device (302) have the same structure, comprising three I-beams, the fixed ends of the I-beams being connected in a Y shape, the free ends of the I-beams being fixedly connected with fixed blocks, and the fixed blocks being symmetrically provided with two universal joint couplings; the fixed block on the first I-beam device (301) is an upper fixed block, the universal joint coupling on the first I-beam device (301) is a first universal joint coupling (401), the fixed block on the second I-beam device (301) is a lower fixed block, and the universal joint coupling on the second I-beam device (302) is a second universal joint coupling (402).

3. A photovoltaic cell assembly carrier according to claim 2, characterized in that: One ends of two electric cylinders are fixed on the upper fixing block, and the other ends of the two electric cylinders are respectively fixed on two adjacent lower fixing blocks.

4. The photovoltaic cell assembly carrier according to claim 2, characterized in that: A platform base (7) is provided below the second I-beam device (302).

5. The photovoltaic cell assembly carrier according to claim 1, characterized in that: The electric cylinder comprises an electric push rod (5) and an electric cylinder body (6), and the electric push rod (5) is extended and retracted in the electric cylinder body (6) to adjust the angle of the first I-beam device (301).

6. An intelligent installation platform for photovoltaic cell assemblies, characterized in that: It comprises a photovoltaic cell assembly carrier and a PID controller as claimed in any one of claims 1 to 5, wherein the photovoltaic cell assembly carrier is arranged on a transport truck (8).

7. The intelligent installation platform for photovoltaic cell assembly according to claim 6, characterized in that: A laser radar sensor (10) is arranged on the roof of the transport truck (8).

8. The intelligent installation platform for photovoltaic cell assembly according to claim 6, characterized in that: The photovoltaic cell assembly is provided with a tilt sensor (14) on board.

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