Rapid and accurate positioning device and method for solar cell module

Abstract

The invention provides a quick and accurate positioning device for testing a solar cell module, which can realize the automation of testing the solar cell module and quickly and accurately move the solar cell module to a position to be tested. The two primary backlight lengthened visual positioning cameras quickly confirm the coordinates of the center positions of the battery pieces at the head and the tail of the module; the five-axis manipulator is guided to grab the assembly and move the assembly to a second-stage precise visual positioning camera, the precise positioning camera is aligned with the first battery or the last battery of the assembly, the camera identifies the center position and compares the center position with the system calibration position, the X-Y-T offset is calculated, and the X-Y-T offset is transmitted to the five-axis manipulator for corresponding coordinate compensation; and after receiving a control instruction of the PLC, the five-axis manipulator quickly and accurately places the solar cell module to a test position according to the compensated position coordinates.

Description

Technical Field

[0001] The invention relates to solar cell component testing, and in particular to a solar cell component rapid and precise positioning device. Background Art

[0002] Solar arrays are the main energy source for spacecraft in orbit, and the circuit part of the solar array is composed of solar cell modules. At present, due to difficulties such as positioning accuracy and module diversity, the performance test and inspection process of solar cell modules is manually operated, there is no automated equipment, and the inspection efficiency is low. In order to meet the requirements of automated and high positioning accuracy of solar cell module testing and improve the efficiency of solar cell module testing, it is urgent to develop a solar cell module rapid positioning and precise detection system to connect all aspects of solar cell module testing and improve the overall testing efficiency. Summary of the invention

[0003] The technical problem solved by the present application is: to overcome the deficiencies of the prior art and to provide a device for rapid and precise positioning of solar cell modules for testing, which can ensure that the solar cell modules are quickly and accurately moved to the testing position, thereby improving the overall testing efficiency.

[0004] It includes two first-level backlight extended visual positioning cameras and their moving mechanisms, a second-level precise visual positioning camera, a five-axis manipulator and its moving mechanism, a control motor and control software. First, the center position coordinates of the first and last cells of the module are quickly confirmed through the two first-level backlight extended visual positioning cameras; then, the five-axis manipulator is guided to grab the module onto the second-level precise visual positioning camera, and the XYT offset is accurately calculated and passed to the five-axis manipulator for corresponding coordinate compensation; finally, after receiving the control command of the PLC, the five-axis manipulator adjusts its posture according to the compensated position coordinates, and quickly and accurately places the solar cell module to the test position.

[0005] The technical solutions provided by this application are as follows:

[0006] A solar cell assembly fast and accurate positioning device comprises a tray, a first-level extended visual positioning camera, a second-level extended visual positioning camera, a second-level accurate visual positioning camera, a five-axis manipulator and a controller. The surface of the tray is used to place the solar cell assembly; the five-axis manipulator, the first-level extended visual positioning camera and the second-level extended visual positioning camera are all located above the tray;

[0007] The first level extended visual positioning camera and the second level extended visual positioning camera are used to obtain the center position coordinates of the first and last cells of the solar cell assembly placed on the surface of the tray, and send the center position coordinates of the first and last cells of the solar cell assembly to the controller;

[0008] Secondary precise visual positioning camera: when the first or last cell of the solar cell module is moved into the recognition area of ​​the precise visual positioning camera, the secondary precise visual positioning camera identifies the center position of the first or last cell of the solar cell module and compares it with the system calibration position, calculates the XYT offset, and transmits the offset to the controller;

[0009] The controller obtains the center position coordinates of the first and last cells of the solar cell module, and guides the five-axis manipulator to grab the solar cell module placed on the surface of the tray according to the center position coordinates of the first and last cells of the solar cell module and drive it to move above the secondary precise visual positioning camera; receives the offset of the secondary precise visual positioning camera, controls the five-axis manipulator to adjust the posture according to the offset to perform coordinate compensation; and drives the solar cell module to move from above the secondary precise visual positioning camera to the test position.

[0010] The tray is a light-transmitting tray, and a backlight source is arranged under the tray.

[0011] The first-level extended visual positioning camera and the second-level extended visual positioning camera are visual positioning backlit telephoto cameras.

[0012] It also includes a rack, the pallet is transported to the rack manually or automatically, the five-axis manipulator is slidably connected to the rack through a five-axis manipulator moving mechanism, the first-level extended visual positioning camera and the second-level extended visual positioning camera are slidably connected to the rack through a positioning camera moving mechanism, and the five-axis manipulator moving mechanism and the positioning camera moving mechanism are staggered and independently controlled.

[0013] The solar cell module is positioned in sequence by the first level extended visual positioning camera, the second level extended visual positioning camera, and the second level precise visual positioning camera to achieve two-level positioning; the two first level backlight extended visual positioning cameras obtain the center position coordinates of the first and last cells of the solar cell module to roughly locate the position of the solar cell module; the accuracy of the second level precise visual positioning camera is higher than that of the first level extended visual positioning camera and the second level extended visual positioning camera. When the first cell or the last cell of the solar cell module is moved into the recognition area of ​​the precise visual positioning camera, the second level precise visual positioning camera identifies the center position of the first or last cell of the solar cell module and compares it with the system calibrated position to obtain the XYT offset.

[0014] The system calibration position is obtained by the following method:

[0015] The solar cell module is precisely placed at the test position, and a five-axis robot is used to take out the solar cell module and place the first cell of the solar cell module above the secondary precise visual positioning camera. The secondary precise visual positioning camera takes a picture of the first cell and confirms the center position coordinates of the first cell of the solar cell module as the reference coordinates.

[0016] The controller is connected to the test system, and the controller obtains the position information of the test station from the test system, and controls the five-axis manipulator to place the solar cell module at the test station according to the position information of the test station and the compensated position coordinates.

[0017] A method for quickly and accurately positioning a solar cell assembly, using any of the above-mentioned devices for quickly and accurately positioning a solar cell assembly for positioning, comprising:

[0018] S1: Obtain the center position coordinates of the first and last cells of the solar cell module placed on the surface of the tray through the first and second level extended visual positioning cameras, and send the center position coordinates of the first and last cells of the solar cell module to the controller;

[0019] S2: The controller guides the five-axis manipulator to grab the solar cell module placed on the surface of the tray according to the center position coordinates of the first and last cells of the solar cell module and drives it to move above the secondary precise visual positioning camera;

[0020] S3: The secondary precision vision positioning camera identifies the center position of the first or last cell of the solar cell module and compares it with the system calibration position, calculates the XYT offset, and transmits the offset to the controller;

[0021] S4: The controller controls the five-axis manipulator to adjust the posture for coordinate compensation according to the offset; and according to the position of the test position, drives the solar cell assembly to move from above the secondary precise visual positioning camera to the test position.

[0022] In summary, this application at least includes the following beneficial technical effects:

[0023] Two first-level extended visual positioning cameras are used to identify the center position coordinates of the first and last cells of the module, obtain the length and position information of the module, and guide the five-axis manipulator grasping group to move the first or last cell of the module to the top of the second-level precise visual positioning camera, accurately calculate the XYT offset of the position, and pass it to the five-axis manipulator for corresponding coordinate compensation. After receiving the control command of the PLC, the five-axis manipulator adjusts its posture according to the compensated position coordinates, and quickly places the solar cell module accurately to the test position. After connecting the device in series with the module test system, the intelligent and automated level of module testing is improved, and the efficiency of module detection is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of a device for rapid and accurate positioning of solar cell modules;

[0025] Figure 2 Schematic diagram of secondary precise positioning

[0026] Figure 3A schematic diagram of the positioning camera arrangement;

[0027] Figure 4 Schematic diagram of the camera calibration page.

[0028] Explanation of the figure numbers: 1. Rack; 2. Solar cell module; 3. Tray; 4. First-level extended visual positioning camera; 5. Second-level extended visual positioning camera; 51. Positioning camera moving mechanism; 6. Second-level precise visual positioning camera; 7. Five-axis manipulator; 71. Five-axis manipulator moving mechanism. DETAILED DESCRIPTION

[0029] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0030] The embodiment of the present application discloses a solar cell module rapid and accurate positioning device, which is particularly suitable for a solar cell module automated integrated testing system.

[0031] Solar cell module rapid and accurate positioning device Figure 1 As shown, it includes a frame 1, a tray 3, a first-level extended visual positioning camera 4, a second-level extended visual positioning camera 5, a second-level precise visual positioning camera 6, a five-axis manipulator 7 and a controller.

[0032] The tray 3 is transported to the rack 1 manually or automatically, and the solar cell module 2 is placed on the tray 3. The tray 3 is made of a light-transmitting material; the solar cell module 2 includes a plurality of connected battery cells. A position mark is provided on the tray 3, and the solar cell module 2 to be tested is placed behind the tray 3. A backlight source is provided at the bottom of the tray 3. The solar cell module includes a plurality of cells.

[0033] The five-axis manipulator 7 is slidably connected to the frame 1 through the five-axis manipulator moving mechanism 71. There are two first-stage extended visual positioning cameras, namely the first first-stage extended visual positioning camera 4 and the second first-stage extended visual positioning camera 5. The first first-stage extended visual positioning camera 4 and the second first-stage extended visual positioning camera 5 are connected to the frame 1 through the positioning camera moving mechanism 51. The two first-stage extended visual positioning cameras can be independently controlled to respectively identify the positions of the first and last cells of the solar cell module; the five-axis manipulator moving mechanism 71 and the positioning camera moving mechanism 51 are staggered and independently controlled to prevent mutual interference. The five-axis manipulator 7, the first first-stage extended visual positioning camera 4 and the first-stage extended positioning visual camera 5 are all located above the tray 3.

[0034] The second-level precise visual positioning camera 6 is installed on the frame 1, and the position sensor 6 is located above the tray 3, which is used to accurately identify the position of the solar cell module 2. The two first-level extended visual positioning cameras can respectively identify the position of the first cell and the last cell of the solar cell module and obtain the length information of the solar cell module 2. The position adjustment of the two first-level extended visual positioning cameras uses a motor control method, which can quickly adjust the position, conveniently and quickly switch, and realize fast calibration. The positions of the first-level extended visual positioning camera 4 and the second-level extended visual positioning camera 5 are as shown in Figure 2 As shown, the two cameras cooperate with each other and are used to locate the positions of the first cell and the last cell of the solar cell assembly 2 respectively.

[0035] like Figure 3 As shown, the first-level extended visual positioning camera 4 and the second-level extended visual positioning camera 5 obtain the position information of the first and last cells of the solar cell module 2 and send it to the controller; the controller guides the five-axis manipulator 7 to grab the solar cell module 2 according to the position information of the first and last cells.

[0036] The controller is connected in series with the component testing system, and the five-axis manipulator 7 is used to grab the solar cell component 2. The first or last cell of the solar cell component is moved to the recognition area of ​​the precise visual positioning camera. The secondary precise visual positioning camera 6 obtains the center position coordinate system of the first or last cell of the component, compares it with the calibrated center position coordinates, and accurately calculates the XYT offset, which is passed to the five-axis manipulator 7 for corresponding coordinate compensation. After receiving the control command of the PLC, the five-axis manipulator 7 can quickly and accurately place the solar cell component to the test position according to the compensated position coordinates, thereby improving the intelligence and automation level of the solar cell component 2 test and improving the detection efficiency of the solar cell component 2.

[0037] Specifically, the controller obtains the offset according to the images of the first battery cell and the last battery cell of the solar cell assembly 2, including:

[0038] First, the solar cell module 2 is precisely placed at the test position; then, the five-axis manipulator is used to take out the solar cell module 2 and place the first cell of the solar cell module 2 above the secondary precise visual positioning camera, which is photographed by the positioning camera to confirm the center position coordinates of the first cell of the solar cell module 2 as the reference coordinates, which are marked with green cross coordinates in the visual recognition system software. The two crosshairs are parallel to the long side and short side of the cell respectively. Figure 4 shown.

[0039] In the formal measurement process, first, after the five-axis manipulator grabs the solar cell component 2 to be tested, the first-level extended visual positioning camera backlight system identifies the first and last cells and obtains the coordinates of their center points; then, it is input into the five-axis manipulator control PLC, and the manipulator compares the input component coordinate position with the reference coordinate, calculates its corresponding compensation value XYT, and grabs the component according to the new position coordinate value; then, the five-axis manipulator transports the component to the second-level precise positioning camera for precise positioning, and calculates its corresponding compensation value XYT; finally, the manipulator moves the component to the test position accurately and quickly according to the new compensation value.

[0040] Calculating the offset of the two head and end cells of the solar cell module separately can reduce the cumulative error introduced by the module length and improve the module positioning accuracy; the solar cell module fast and accurate positioning device can be connected in series with the module testing system, and the robot can be used to accurately grasp the module to the module position, thereby improving the intelligence and automation level of module testing and improving the module detection efficiency.

[0041] The contents not described in detail in this application specification belong to the common knowledge of those skilled in the art.

[0042] The present application is described in detail above in conjunction with specific implementation methods and exemplary examples, but these descriptions cannot be understood as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, a variety of equivalent replacements, modifications or improvements can be made to the technical solution of the present application and its implementation methods, all of which fall within the scope of the present application. The scope of protection of the present application shall be subject to the attached claims.

Claims

1. A solar cell assembly rapid and accurate positioning device, characterized in that: It comprises a tray (3), a first-level extended visual positioning camera (4), a second-level extended visual positioning camera (5), a second-level precise visual positioning camera (6), a five-axis manipulator (7) and a controller. The surface of the tray (3) is used to place a solar cell module (2); the five-axis manipulator (7), the first-level extended visual positioning camera (4) and the second-level extended visual positioning camera (5) are all located above the tray (3); The first level extended visual positioning camera (4) and the second level extended visual positioning camera (5) are used to obtain the center position coordinates of the first and last cells of the solar cell assembly (2) placed on the surface of the tray (3), and send the center position coordinates of the first and last cells of the solar cell assembly (2) to the controller; Secondary precise visual positioning camera (6), when the first cell or the last cell of the solar cell module is moved into the recognition area of ​​the precise visual positioning camera (6), the secondary precise visual positioning camera (6) identifies the center position of the first cell or the last cell of the solar cell module (2) and compares it with the system calibration position, calculates the XYT offset, and transmits the offset to the controller; The controller obtains the center position coordinates of the first and last cells of the solar cell assembly (2), and guides a five-axis manipulator (7) to grab the solar cell assembly (2) placed on the surface of the tray (3) according to the center position coordinates of the first and last cells of the solar cell assembly (2) and drive it to move above the secondary precise visual positioning camera (6); receives the offset of the secondary precise visual positioning camera (6), controls the five-axis manipulator to adjust its posture according to the offset to perform coordinate compensation; and drives the solar cell assembly (2) to move from above the secondary precise visual positioning camera (6) to a test position.

2. A solar cell assembly rapid and accurate positioning device according to claim 1, characterized in that: The tray (3) is a light-transmitting tray (3), and a backlight source is arranged below the tray (3).

3. A solar cell assembly rapid and accurate positioning device according to claim 1, characterized in that: The first-stage extended visual positioning camera (4) and the second-stage extended visual positioning camera (5) are visual positioning backlit telephoto cameras.

4. A solar cell assembly rapid and accurate positioning device according to claim 1, characterized in that: It also includes a frame (1), a tray (3) is transported to the frame (1) manually or automatically, a five-axis manipulator (7) is slidably connected to the frame (1) via a five-axis manipulator moving mechanism, a first-stage extended visual positioning camera (4) and a second-stage extended visual positioning camera (5) are slidably connected to the frame (1) via a positioning camera moving mechanism, and the five-axis manipulator (7) moving mechanism and the positioning camera moving mechanism are staggered and independently controlled.

5. The solar cell assembly rapid and accurate positioning device according to claim 1, characterized in that: The solar cell assembly (2) is positioned in sequence by a first level extended visual positioning camera (4), a second level extended visual positioning camera (5), and a second level precise visual positioning camera (6), thereby realizing two-level positioning; the two first level backlight extended visual positioning cameras obtain the center position coordinates of the first and last cells of the solar cell assembly (2) and roughly position the position of the solar cell assembly (2); the second level precise visual positioning camera (6) has a higher accuracy than the first level extended visual positioning camera (4) and the second level extended visual positioning camera (5); when the first cell or the last cell of the solar cell assembly is moved into the recognition area of ​​the precise visual positioning camera (6), the second level precise visual positioning camera (6) recognizes the center position of the first cell or the last cell of the solar cell assembly (2) and compares it with the system calibration position to obtain an XYT offset.

6. A solar cell assembly rapid and accurate positioning device according to claim 5, characterized in that: The system calibration position is obtained by the following method: The solar cell assembly (2) is accurately placed at a test position, a five-axis manipulator is used to take out the solar cell assembly (2), and a first cell of the solar cell assembly (2) is placed above a secondary precise visual positioning camera (6), and the secondary precise visual positioning camera (6) takes a picture of the first cell, and confirms the center position coordinates of the first cell of the solar cell assembly (2) as reference coordinates.

7. A solar cell assembly rapid and accurate positioning device according to claim 1, characterized in that: The controller is connected to the test system, the controller obtains the position information of the test station from the test system, and controls the five-axis manipulator (7) to place the solar cell assembly (2) at the test station according to the position information of the test station and the compensated position coordinates.

8. A method for rapid and accurate positioning of a solar cell assembly, characterized in that: The method of using a solar cell assembly rapid and precise positioning device as claimed in any one of claims 1 to 7 for positioning comprises: S1: obtaining the center position coordinates of the first and last cells of the solar cell assembly (2) placed on the surface of the tray (3) through the first and second level extended visual positioning cameras (4) and the second level extended visual positioning cameras (5), and sending the center position coordinates of the first and last cells of the solar cell assembly (2) to the controller; S2: The controller guides the five-axis manipulator (7) to grab the solar cell assembly (2) placed on the surface of the tray (3) according to the center position coordinates of the first and last cells of the solar cell assembly (2) and drives it to move above the secondary precise visual positioning camera (6); S3: The secondary precise visual positioning camera (6) identifies the center position of the first or last cell of the solar cell module (2) and compares it with the system calibration position, calculates the XYT offset, and transmits the offset to the controller; S4: The controller controls the five-axis manipulator to adjust its posture to perform coordinate compensation according to the offset; and drives the solar cell assembly (2) to move from above the secondary precise visual positioning camera (6) to the test position according to the position of the test position.

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