Automatic grabbing method, device and equipment for photovoltaic panel and storage medium

Abstract

The invention discloses a photovoltaic panel automatic grabbing method, device and equipment and a storage medium. Comprising the steps that when a working device receives a grabbing instruction, a movable arm is controlled to descend to a target position based on an obtained movable arm rotation angle, and meanwhile a suction cup support is leveled; after the suction cup support is leveled, the suction cup is moved to a target position, and the in-place condition of the suction cup is determined according to the first switches; and when the sucker in-place condition is that the sucker is in place, the target photovoltaic panel is adsorbed through the sucker. The movable arm is controlled through the rotating angle of the movable arm, the position of the movable arm can be accurately determined, the suction cup support is leveled, the suction cup is in a proper posture, a foundation is laid for accurately grabbing the photovoltaic panel, and grabbing errors caused by position deviation are reduced. The in-place condition of the suction cup is judged through the first switch, it is ensured that the suction cup accurately reaches the position where the photovoltaic panel can be stably grabbed, and the reliability of the grabbing process is improved. And the photovoltaic panel can be automatically grabbed without manual intervention, the automation level of photovoltaic panel grabbing is improved, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of mechanical control, and in particular to a method, device, equipment and storage medium for automatically grasping a photovoltaic panel. Background Art

[0002] With the rapid development of the photovoltaic industry, the demand for large-scale photovoltaic power station construction is growing. In the process of photovoltaic power station construction, the installation of photovoltaic panels is an important and tedious task. The traditional manual installation of photovoltaic panels is inefficient, labor-intensive, and has certain safety risks. Therefore, the development of photovoltaic panel automatic grabbing and installation technology is of great significance to improving the efficiency of photovoltaic power station construction, reducing labor costs and ensuring construction safety.

[0003] At present, in the process of photovoltaic panel installation, simple mechanical structures and sensors are generally used to control the movement of components such as the boom through a pre-set program to achieve the grabbing operation of the photovoltaic panel. However, in the existing technology, the equipment is not accurate enough when controlling the grabbing of the photovoltaic panel, and it is difficult to accurately reach the preset position, which affects the subsequent alignment of the suction cup and the photovoltaic panel, and the efficiency of grabbing the photovoltaic panel is low. Summary of the invention

[0004] The present invention provides a method, device, equipment and storage medium for automatically grasping a photovoltaic panel, which realizes stable grasping through precise control and ensures that the photovoltaic panel is not damaged during the grasping process.

[0005] According to one aspect of the present invention, a method for automatically grabbing a photovoltaic panel is provided, the method comprising:

[0006] When the working device receives a grabbing instruction, the boom is controlled to descend to the target position based on the acquired boom rotation angle, and the suction cup bracket is leveled at the same time;

[0007] When the suction cup bracket is leveled, the suction cup is moved to the target position, and the position of the suction cup is determined according to each first switch;

[0008] When the suction cup is in place, the target photovoltaic panel is adsorbed by the suction cup.

[0009] Optionally, before controlling the boom to descend to the target position based on the acquired boom angle, the method also includes: when the working device is in the initial position, obtaining a grabbing instruction input by the user, wherein the working device includes a boom, a stick and accessories; confirming the number of photovoltaic panels to be grabbed, and determining the target position corresponding to the target photovoltaic panel based on the number of photovoltaic panels; obtaining the length of the target connecting rod in the working device, and determining the target connecting rod angle according to the target position and the initial position; substituting the target connecting rod angle and length into a preset boom angle calculation formula, stick angle calculation formula and accessory angle calculation formula to determine the boom angle, stick angle and accessory angle; and reclaiming the stick based on the stick angle.

[0010] Optionally, the suction cup bracket is leveled, including: measuring the real-time angle of the suction cup bracket by a leveling sensor, wherein the number of the leveling sensors is at least three; determining a leveling parameter corresponding to the real-time angle based on the attachment angle and a preset adjustment algorithm; and adjusting the suction cup bracket according to the leveling parameter to make the suction cup level.

[0011] Optionally, determining the suction cup in place status according to each first switch includes: judging whether each first switch is in a first preset position, and if so, determining that the suction cup is in place status is that the suction cup is in place, wherein the first switch is a suction cup in place proximity switch, and the number of the first switches is at least four; otherwise, determining that the suction cup is in place status is that the suction cup is not in place.

[0012] Optionally, after adsorbing the target photovoltaic panel through the suction cup, the method also includes: determining the adsorption status of the suction cup according to each second switch; when the adsorption status of the suction cup is in place, retracting the boom and controlling the boom to move in a direction away from the ground to return the working device to its initial position.

[0013] Optionally, determining the suction cup adsorption status according to each second switch includes: judging whether each second switch is in the second preset position, and if so, determining that the suction cup adsorption status is adsorbed in place, wherein the second switch is a vacuum pressure switch, and the number of first switches is at least two; otherwise, determining that the suction cup adsorption status is not adsorbed in place.

[0014] Optionally, after the target photovoltaic panel is adsorbed by the suction cup, the method further includes: obtaining a walking step distance set by the user; when a movement instruction input by the user is obtained, controlling the walking device based on the walking step distance to move the working device to the next working position.

[0015] According to another aspect of the present invention, there is provided a photovoltaic panel automatic grasping device, the device comprising:

[0016] The suction cup bracket leveling module is used to control the boom to descend to the target position based on the acquired boom rotation angle when the working device receives the grabbing instruction, and to level the suction cup bracket at the same time;

[0017] A suction cup moving module is used to move the suction cup to a target position after the suction cup bracket is leveled, and determine whether the suction cup is in place according to each first switch;

[0018] The suction cup adsorption module is used to adsorb the target photovoltaic panel through the suction cup when the suction cup is in place.

[0019] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0020] at least one processor;

[0021] and a memory communicatively coupled to the at least one processor;

[0022] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the photovoltaic panel automatic grasping method described in any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a photovoltaic panel automatic grasping method described in any embodiment of the present invention when executed.

[0024] The technical solution of the embodiment of the present invention can accurately determine the position of the arm by controlling the arm's rotation angle to descend to the target position. Combined with the leveling of the suction cup bracket, the suction cup is placed in a suitable posture, laying the foundation for accurately grasping the photovoltaic panel and reducing grasping errors caused by position deviation. The first switch is used to determine whether the suction cup is in place, ensuring that the suction cup accurately reaches a position where it can stably grasp the photovoltaic panel, thereby improving the reliability of the grasping process. From the moment the grasping instruction is received, the arm is automatically controlled to descend, the suction cup bracket is leveled, the suction cup is moved, and the suction cup is determined to be in place and adsorb the photovoltaic panel. There is no need for excessive manual intervention, which improves the automation level of photovoltaic panel grasping and improves work efficiency.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 is a flow chart of a photovoltaic panel automatic grabbing method provided according to the first embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of the composition structure of a working device provided according to Embodiment 1 of the present invention;

[0029] Figure 3 is a schematic diagram of a kinematic model of a photovoltaic installation device provided according to Embodiment 1 of the present invention;

[0030] Figure 4is a flow chart of another photovoltaic panel automatic grabbing method provided according to the second embodiment of the present invention;

[0031] Figure 5 is a schematic structural diagram of an automatic photovoltaic panel grabbing device provided according to Embodiment 3 of the present invention;

[0032] Figure 6 It is a structural schematic diagram of an electronic device for implementing a photovoltaic panel automatic grasping method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Embodiment 1

[0036] Figure 1 A flowchart of a photovoltaic panel automatic grasping method is provided for the first embodiment of the present invention. This embodiment is applicable to photovoltaic panel grasping scenarios. The method can be performed by a photovoltaic panel automatic grasping device. The photovoltaic panel automatic grasping device can be implemented in the form of hardware and / or software. The photovoltaic panel automatic grasping device can be configured in a photovoltaic panel installation device. Figure 1 As shown, the method includes:

[0037] S110: When the working device receives a grabbing instruction, the boom is controlled to descend to a target position based on the acquired boom rotation angle, and the suction cup bracket is leveled at the same time.

[0038] The working device is composed of a boom, an arm and accessories, and the coordinated actions of various parts complete the operations of transporting, positioning and installing photovoltaic panels. Figure 2 A schematic diagram of the composition structure of a working device is provided for the first embodiment of the present invention. Figure 2 In the robot, the boom is equipped with an inertial measurement unit (IMU) and a displacement sensor. The IMU can measure the boom's acceleration, angular velocity and other attitude information, and the displacement sensor is used to measure the boom's moving distance. The boom is also equipped with an IUM inertial measurement unit and a displacement sensor to monitor the boom's attitude and displacement. The attachment includes a rotary motor and a suction cup. The rotary motor is equipped with a rotary encoder to measure the rotation angle and position of the rotary motor. The suction cup is equipped with a proximity switch, an ultrasonic sensor and an IMU. The proximity switch can detect the proximity of the suction cup to the target object, the ultrasonic sensor can measure the distance, and the IMU is used to sense the suction cup's attitude.

[0039] Specifically, the grabbing instruction refers to the instruction issued by the user through the operation interactive interface to start the photovoltaic panel grabbing process, such as pressing the panel grabbing button. The grabbing instruction can control the working device to start the task of grabbing the photovoltaic panel. The boom angle refers to the angle formed by the boom with the reference direction during the movement. During the photovoltaic panel grabbing process, the boom angle is used to accurately control the boom's descent action to ensure that the boom accurately reaches the target position. Boom descent refers to the boom moving downward under the control of the boom angle, the purpose is to make the suction cup installed at the end of the boom close to the target photovoltaic panel to prepare for grabbing the photovoltaic panel. The target position refers to the position expected to be reached by the boom descent and the suction cup movement during the photovoltaic panel grabbing process. The target position is determined based on factors such as the storage location of the photovoltaic panel, the mechanical structure of the equipment, and the installation process requirements to ensure that the suction cup can accurately adsorb the photovoltaic panel. The suction cup bracket leveling refers to the use of three ultrasonic sensors to measure the distance and the IMU inertia measurement unit to monitor the suction cup tilt angle, so that the suction cup bracket is in a horizontal state, ensuring that the suction cup can adsorb the photovoltaic panel in the correct posture, and improving the stability and reliability of adsorption.

[0040] Optionally, before controlling the boom to descend to the target position based on the acquired boom angle, the method also includes: when the working device is in the initial position, obtaining a grabbing instruction input by the user, wherein the working device includes a boom, a stick and accessories; confirming the number of photovoltaic panels to be grabbed, and determining the target position corresponding to the target photovoltaic panel based on the number of photovoltaic panels; obtaining the length of the target connecting rod in the working device, and determining the target connecting rod angle according to the target position and the initial position; substituting the target connecting rod angle and length into a preset boom angle calculation formula, stick angle calculation formula and accessory angle calculation formula to determine the boom angle, stick angle and accessory angle; and reclaiming the stick based on the stick angle.

[0041] Among them, the initial position refers to the default position of the working device before it starts to perform the grasping task. When the working device is in the initial position, the operator can input the grasping instruction through the operation interactive interface, such as control buttons, touch screens, etc. For example, press the "take board" button to input the grasping instruction to the working device. When the working device receives the grasping instruction, it will interact with the system that stores the relevant information of the photovoltaic panels to confirm the number of photovoltaic panels that need to be grasped this time. The target link refers to the connecting rod component in the mechanical structure of the working device that is related to determining the motion parameters such as the boom and the bucket rod. The length of the target link is the key parameter for calculating the required angle. The target link angle refers to the angle between the target links calculated based on the target position and the initial position, which is used for the subsequent calculation of the angles of the boom, bucket rod and attachments.

[0042] Specifically, the working device will determine the specific position of each target photovoltaic panel in space as the target position based on the confirmed number of photovoltaic panels and the storage layout of the photovoltaic panels. The boom, arm and other parts of the working device can be regarded as a mechanical structure composed of multiple connecting rods. Before executing the grasping task, the system will obtain the actual length of the target connecting rod, and determine the angle that needs to be formed between the target connecting rods based on the target position of the target photovoltaic panel and the current initial position of the working device through geometric calculation or based on a preset coordinate system. For example, by calculating the angle between the boom and the arm, and between the arm and the attachment when reaching the target position. Then, the obtained target connecting rod angle and length data can be substituted into the preset calculation formula.

[0043] In a specific embodiment, Figure 3 A schematic diagram of a kinematic model of a photovoltaic installation device is provided for the first embodiment of the present invention, which is composed of a walking device (bottom crawler chassis) and a working device. Figure 3 A spatial rectangular coordinate system O-XYZ is established in the paper to determine the position of each part of the equipment in space. The center of the bottom of the equipment is the coordinate origin O, the X-axis is along the direction of travel of the equipment, the Y-axis is perpendicular to the direction of travel of the equipment, and the Z-axis is vertically upward. Among them, the boom and the walking device are hinged at point C, and their rotation around point C is controlled by the AB connecting rod; the boom is connected to the end of the boom at point F and can rotate relative to the boom; the attachment is connected to the end of the boom for grabbing photovoltaic panels. α represents the boom angle, β represents the boom angle, and γ represents the attachment angle. L1, L2, and L3 represent the lengths of specific parts of the boom, boom, and attachment, respectively. (x, y, z, ψ) represents the position coordinates of the end of the equipment, that is, the suction cup. The preset boom angle calculation formula is shown in the following formula (1):

[0044]

[0045] Among them, α represents the boom angle, such as Figure 3As shown in the figure, AC, BC and AB represent the lengths of the three connecting rods that make up the boom, which are used to calculate the angles using the law of cosines. ∠BCF and ∠ACT represent the angles related to the boom movement. When grabbing a photovoltaic panel, the boom needs to be lowered to a suitable position so that the suction cup can contact and adsorb the photovoltaic panel. The boom angle is calculated using this formula, and the displacement sensor is used to guide the cylinder displacement so that the boom can accurately reach the specified position. At the same time, the IMU verifies the completion of the action to ensure the accuracy of the boom movement. For example, during the boom descent process, the boom cylinder is controlled to extend and retract according to the calculated angle to achieve a suitable height to ensure that the suction cup can smoothly approach the photovoltaic panel. The preset arm angle calculation formula is shown in the following formula (2):

[0046]

[0047] Among them, β represents the arm angle, such as Figure 3 As shown in the figure, DF, EF and DE represent the lengths of the three connecting rods that make up the boom, which are used to calculate the angles using the law of cosines. ∠DFC and ∠EFQ represent the angles related to the boom movement. During the grabbing process, the action of the boom needs to be coordinated with the boom. Before and after adsorbing the photovoltaic panel, the boom needs to be retracted to prevent the photovoltaic panel from hitting the outside of the material frame. The boom angle is calculated using this formula to control the retraction and extension of the boom, ensuring that the boom is at the appropriate angle and position to ensure the safety and stability of the grabbing process. The preset attachment angle calculation formula is shown in the following formula (3):

[0048]

[0049] Among them, γ represents the angle of the attachment, such as Figure 3 As shown, GN, MN and GM represent the lengths of the three connecting rods that make up the attachment, ∠FNG and ∠FNQ represent the angles related to the connection between the attachment and the boom, and are used to calculate the attachment angle. QN and MN represent the lengths of the line segments in the attachment structure, and are used to calculate the distance QM between two points on the attachment. NQ, QM, MN, KQ and KM represent the lengths of the line segments related to the attachment, ∠FQN and ∠VQK are the angles on the attachment, and together participate in the calculation of the attachment angle γ. By calculating the attachment angle, the attachment can maintain a suitable posture when grabbing and carrying photovoltaic panels.

[0050] Optionally, the suction cup bracket is leveled, including: measuring the real-time angle of the suction cup bracket by a leveling sensor, wherein the number of the leveling sensors is at least three; determining a leveling parameter corresponding to the real-time angle based on the attachment angle and a preset adjustment algorithm; and adjusting the suction cup bracket according to the leveling parameter to make the suction cup level.

[0051] Among them, the leveling sensor is an important hardware foundation for realizing the leveling of the suction cup bracket, and the number of the leveling sensor is at least three. Because in three-dimensional space, three non-collinear points can uniquely determine a plane, and at least three leveling sensors can accurately measure the posture of the suction cup bracket in space, that is, the real-time angle. The leveling sensor can be an ultrasonic sensor. The ultrasonic sensor can be installed at different positions of the suction cup bracket, and measures the distance from the ground or a specific reference plane by transmitting and receiving ultrasonic signals. According to the distance data measured by multiple sensors, the inclination angle of the suction cup bracket relative to the reference plane can be calculated to obtain the real-time angle. The attachment angle is calculated according to the target position and the initial position in the previous step. The preset adjustment algorithm is a calculation method pre-designed according to the mechanical structure of the working device, the characteristics of the leveling sensor, and the leveling target. The preset adjustment algorithm comprehensively considers the attachment angle and the real-time angle measured by the leveling sensor, and calculates the adjustment parameters required to make the suction cup bracket reach a horizontal state. For example, the algorithm may correct the deviation based on the deviation between the real-time angle and the horizontal state, combined with the attachment angle, and then calculates the leveling parameters such as the angle value and displacement that need to be adjusted.

[0052] Specifically, after obtaining the leveling parameters, the control system of the working device will drive the corresponding actuator to adjust the suction cup bracket according to the leveling parameters. During the adjustment process, the leveling sensor will continuously monitor the real-time angle of the suction cup bracket to ensure that the suction cup bracket finally reaches a horizontal state, so that the suction cup can adsorb the photovoltaic panel in the correct posture.

[0053] S120, after the suction cup bracket is leveled, the suction cup is moved to the target position, and the position of the suction cup is determined according to each first switch.

[0054] Among them, the suction cup is installed on the suction cup bracket and is a device for grabbing the photovoltaic panel. It adsorbs the photovoltaic panel by generating suction. The first switch refers to a sensor used to confirm whether the suction cup has moved to a predetermined position. When the suction cup approaches the target position, the first switch will sense the position information of the suction cup and feed back the signal to the control system to determine whether the suction cup is in place. The suction cup in place condition refers to the state of whether the suction cup has reached the predetermined position determined according to the information fed back by the first switch. If the first switch feeds back that the suction cup has reached the target position, the suction cup in place condition is that the suction cup is in place; if no corresponding signal is fed back, it means that the suction cup is not in place.

[0055] Optionally, determining the suction cup in place status according to each first switch includes: judging whether each first switch is in a first preset position, and if so, determining that the suction cup is in place status is that the suction cup is in place, wherein the first switch is a suction cup in place proximity switch, and the number of the first switches is at least four; otherwise, determining that the suction cup is in place status is that the suction cup is not in place.

[0056] Among them, the first switch refers to the suction cup in place proximity switch, and the number of first switches is at least four. The first switch will be installed on the suction cup bracket or a key position related to the suction cup movement to monitor the position of the suction cup from multiple different positions and angles. When all the first switches are in the first preset position, it means that the suction cup has been accurately moved to the target position. At this time, the system will determine that the suction cup is in place. As long as one of the first switches is not in the first preset position, it means that the suction cup has not accurately reached the predetermined position, that is, the suction cup is determined to be not in place.

[0057] Furthermore, when the suction cup is not in place, the working device will readjust the position of the suction cup and try to move it to the target position again until all the first switches are in the first preset position.

[0058] S130: When the suction cup is in place, the target photovoltaic panel is adsorbed by the suction cup.

[0059] Among them, adsorption refers to the operation of tightly adsorbing the target photovoltaic panel by generating vacuum suction after the suction cup reaches the target position and confirms that it is in place. The target photovoltaic panel refers to the photovoltaic panel that needs to be grasped and installed, and is the object of the working device to perform the grasping task.

[0060] Optionally, after the target photovoltaic panel is adsorbed by the suction cup, the method further includes: obtaining a walking step distance set by the user; when a movement instruction input by the user is obtained, controlling the walking device based on the walking step distance to move the working device to the next working position.

[0061] It should be noted that after completing the adsorption of the photovoltaic panel, the working device needs to be moved to the next working position to continue the operation.

[0062] Among them, the walking step refers to the distance that the working device moves each time, and the walking step can be adjusted according to different photovoltaic installation scenarios and work requirements. The user can input and set the walking step through the interactive interface. For example, at the installation site of a large photovoltaic power station, according to the arrangement layout and installation interval of the photovoltaic panels, the user may set a suitable walking step to ensure that the working device can accurately reach the next location where the photovoltaic panel needs to be installed. The control system of the working device will read the walking step value set by the user from the interactive interface.

[0063] Specifically, when the working device successfully adsorbs the target photovoltaic panel, the operator will input movement instructions to the working device through the operation interactive interface according to the work progress and actual situation. After receiving the movement instruction input by the user, the control system of the working device will call the walking step data previously acquired and stored. Then, the movement of the walking device is controlled according to the walking step. During the movement process, the control system will monitor the position and movement distance of the walking device in real time to ensure that the working device moves accurately to the next working position, so as to realize the continuous operation of the automatic grasping and installation process of the photovoltaic panel.

[0064] The technical solution of the embodiment of the present invention can accurately determine the position of the arm by controlling the arm's rotation angle to descend to the target position. Combined with the leveling of the suction cup bracket, the suction cup is placed in a suitable posture, laying the foundation for accurately grasping the photovoltaic panel and reducing grasping errors caused by position deviation. The first switch is used to determine whether the suction cup is in place, ensuring that the suction cup accurately reaches a position where it can stably grasp the photovoltaic panel, thereby improving the reliability of the grasping process. From the moment the grasping instruction is received, the arm is automatically controlled to descend, the suction cup bracket is leveled, the suction cup is moved, and the suction cup is determined to be in place and adsorb the photovoltaic panel. There is no need for excessive manual intervention, which improves the automation level of photovoltaic panel grasping and improves work efficiency.

[0065] Embodiment 2

[0066] Figure 4 This is a flow chart of a photovoltaic panel automatic grasping method provided in the second embodiment of the present invention. This embodiment adds a specific process of the working device returning to the initial position on the basis of the above-mentioned first embodiment. Among them, the specific contents of steps S210-S230 are roughly the same as steps S110-S130 in the first embodiment, so they will not be repeated in this embodiment. Figure 4 As shown, the method includes:

[0067] S210: When the working device receives a grabbing instruction, the boom is controlled to descend to a target position based on the acquired boom rotation angle, and the suction cup bracket is leveled at the same time.

[0068] Optionally, before controlling the boom to descend to the target position based on the acquired boom angle, the method also includes: when the working device is in the initial position, obtaining a grabbing instruction input by the user, wherein the working device includes a boom, a stick and accessories; confirming the number of photovoltaic panels to be grabbed, and determining the target position corresponding to the target photovoltaic panel based on the number of photovoltaic panels; obtaining the length of the target connecting rod in the working device, and determining the target connecting rod angle according to the target position and the initial position; substituting the target connecting rod angle and length into a preset boom angle calculation formula, stick angle calculation formula and accessory angle calculation formula to determine the boom angle, stick angle and accessory angle; and reclaiming the stick based on the stick angle.

[0069] Optionally, the suction cup bracket is leveled, including: measuring the real-time angle of the suction cup bracket by a leveling sensor, wherein the number of the leveling sensors is at least three; determining a leveling parameter corresponding to the real-time angle based on the attachment angle and a preset adjustment algorithm; and adjusting the suction cup bracket according to the leveling parameter to make the suction cup level.

[0070] S220: After the suction cup bracket is leveled, the suction cup is moved to the target position, and the position of the suction cup is determined according to each first switch.

[0071] Optionally, determining the suction cup in place status according to each first switch includes: judging whether each first switch is in a first preset position, and if so, determining that the suction cup is in place status is that the suction cup is in place, wherein the first switch is a suction cup in place proximity switch, and the number of the first switches is at least four; otherwise, determining that the suction cup is in place status is that the suction cup is not in place.

[0072] S230: When the suction cup is in place, the target photovoltaic panel is adsorbed by the suction cup.

[0073] Optionally, after the target photovoltaic panel is adsorbed by the suction cup, the method further includes: obtaining a walking step distance set by the user; when a movement instruction input by the user is obtained, controlling the walking device based on the walking step distance to move the working device to the next working position.

[0074] S240, determining the suction status of the suction cup according to each second switch.

[0075] Optionally, determining the suction cup adsorption status according to each second switch includes: judging whether each second switch is in the second preset position, and if so, determining that the suction cup adsorption status is adsorbed in place, wherein the second switch is a vacuum pressure switch, and the number of first switches is at least two; otherwise, determining that the suction cup adsorption status is not adsorbed in place.

[0076] Among them, the second switch refers to a vacuum pressure switch, which is used to monitor the vacuum pressure inside the suction cup. When the suction cup adsorbs the photovoltaic panel, a certain vacuum environment will be formed, and the vacuum pressure switch can sense the pressure change. In order to ensure the accuracy and reliability of the adsorption judgment, the number of second switches is at least two. The second switch can be installed on the edge of the suction cup or at the part connected to the vacuum system to obtain the vacuum pressure information inside the suction cup from different positions and angles.

[0077] Specifically, when all the second switches are in the second preset position, it means that the vacuum pressure inside the suction cup has reached the requirement for stable adsorption of the photovoltaic panel at each monitoring point, and the suction cup adsorption can be determined as being in place. If only one of the second switches is not in the second preset position, it means that the vacuum pressure inside the suction cup has not reached the standard, and there may be a problem of air leakage or loose adsorption, and the suction cup adsorption can be determined as being not in place.

[0078] Furthermore, when the adsorption is not in place, the vacuum pressure can be increased by restarting the vacuum pump, or the position of the suction cup can be adjusted to re-adsorb until all the second switches are in the second preset position. By monitoring the vacuum pressure inside the suction cup from multiple aspects through at least two vacuum pressure switches, and strictly judging whether they are all in the second preset position, the accuracy of the judgment can be improved, thereby ensuring the stability of the automatic grasping process of the photovoltaic panel.

[0079] S250: When the suction cup is in place, the boom is retracted and the movable arm is controlled to move away from the ground to return the working device to its initial position.

[0080] Among them, when it is determined that the suction cup is in place, a command will be sent to the control system of the working device to control the boom to perform the recovery action. The purpose of recovering the boom is to reduce the overall size of the working device and reduce the risk of collision with surrounding objects during movement. It also helps to adjust the center of gravity of the working device and improve stability during movement. After recovering the boom, the control system will further control the boom to move away from the ground. On the one hand, it is to lift the working device with the photovoltaic panel adsorbed to a certain height to avoid friction and collision between the photovoltaic panel and the ground or other obstacles during movement. On the other hand, after the working device is lifted to a suitable height, it can be easily returned to the initial position. After successfully adsorbing the photovoltaic panel, by judging the adsorption situation and reasonably adjusting the posture of the working device when it is in place, the photovoltaic panel installation equipment can be safely and smoothly returned to the initial position, laying the foundation for subsequent continuous operations.

[0081] The technical solution of the embodiment of the present invention can accurately determine the position of the arm by controlling the arm's rotation angle to descend to the target position. Combined with the leveling of the suction cup bracket, the suction cup is placed in a suitable posture, laying the foundation for accurately grasping the photovoltaic panel and reducing grasping errors caused by position deviation. The first switch is used to determine whether the suction cup is in place, ensuring that the suction cup accurately reaches a position where it can stably grasp the photovoltaic panel, thereby improving the reliability of the grasping process. From the moment the grasping instruction is received, the arm is automatically controlled to descend, the suction cup bracket is leveled, the suction cup is moved, and the suction cup is determined to be in place and adsorb the photovoltaic panel. There is no need for excessive manual intervention, which improves the automation level of photovoltaic panel grasping and improves work efficiency.

[0082] Embodiment 3

[0083] Figure 5 This is a schematic diagram of the structure of a photovoltaic panel automatic grabbing device provided in the third embodiment of the present invention. Figure 5 As shown, the device includes: a suction cup bracket leveling module 310, which is used to control the boom to descend to the target position based on the acquired boom rotation angle when the working device receives a grabbing instruction, and to level the suction cup bracket at the same time;

[0084] The suction cup moving module 320 is used to move the suction cup to a target position after the suction cup bracket is leveled, and determine whether the suction cup is in place according to each first switch;

[0085] The suction cup adsorption module 330 is used to adsorb the target photovoltaic panel through the suction cup when the suction cup is in place.

[0086] Optionally, the device also includes: an instruction acquisition and angle calculation module, which is used to obtain a grabbing instruction input by the user when the working device is in an initial position before controlling the boom to descend to a target position based on the acquired boom angle, wherein the working device includes a boom, a boom and accessories; confirming the number of photovoltaic panels to be grabbed, and determining the target position corresponding to the target photovoltaic panel based on the number of photovoltaic panels; obtaining the length of the target connecting rod in the working device, and determining the target connecting rod angle according to the target position and the initial position; substituting the target connecting rod angle and length into a preset boom angle calculation formula, a boom angle calculation formula and an accessory angle calculation formula to determine the boom angle, the boom angle and the accessory angle; and recovering the boom based on the boom angle.

[0087] Optionally, the suction cup bracket leveling module 310 is specifically used to: measure the real-time angle of the suction cup bracket through a leveling sensor, wherein the number of leveling sensors is at least three; determine the leveling parameters corresponding to the real-time angle based on the attachment angle and a preset adjustment algorithm; and adjust the suction cup bracket according to the leveling parameters to make the suction cup level.

[0088] Optionally, the suction cup moving module 320 is specifically used to: determine whether each first switch is in a first preset position, and if so, determine that the suction cup is in place as the suction cup is in place, wherein the first switch is a suction cup in place proximity switch, and the number of first switches is at least four; otherwise, determine that the suction cup is not in place.

[0089] Optionally, the device also includes: an adsorption status determination module, which is used to: determine the adsorption status of the suction cup according to each second switch after the target photovoltaic panel is adsorbed by the suction cup; when the suction cup adsorption status is in place, retract the boom and control the boom to move in a direction away from the ground to return the working device to its initial position.

[0090] Optionally, the adsorption status determination module specifically includes: an adsorption status determination unit, used to: determine whether each second switch is in the second preset position, and if so, determine that the suction cup adsorption status is adsorbed in place, wherein the second switch is a vacuum pressure switch, and the number of first switches is at least two; otherwise, determine that the suction cup adsorption status is not adsorbed in place.

[0091] Optionally, a device moving module is used to obtain the walking step distance set by the user after the target photovoltaic panel is adsorbed by the suction cup; when the movement instruction input by the user is obtained, the walking device is controlled based on the walking step distance to move the working device to the next working position.

[0092] The technical solution of the embodiment of the present invention can accurately determine the position of the arm by controlling the arm's rotation angle to descend to the target position. Combined with the leveling of the suction cup bracket, the suction cup is placed in a suitable posture, laying the foundation for accurately grasping the photovoltaic panel and reducing grasping errors caused by position deviation. The first switch is used to determine whether the suction cup is in place, ensuring that the suction cup accurately reaches a position where it can stably grasp the photovoltaic panel, thereby improving the reliability of the grasping process. From the moment the grasping instruction is received, the arm is automatically controlled to descend, the suction cup bracket is leveled, the suction cup is moved, and the suction cup is determined to be in place and adsorb the photovoltaic panel. There is no need for excessive manual intervention, which improves the automation level of photovoltaic panel grasping and improves work efficiency.

[0093] An automatic photovoltaic panel grabbing device provided in an embodiment of the present invention can execute an automatic photovoltaic panel grabbing method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0094] Embodiment 4

[0095] Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0096] like Figure 6As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0097] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0098] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a photovoltaic panel automatic grasping method.

[0099] In some embodiments, a photovoltaic panel automatic grasping method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the photovoltaic panel automatic grasping method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute a photovoltaic panel automatic grasping method in any other appropriate manner (for example, by means of firmware).

[0100] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0101] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0102] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0103] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0104] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0105] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0106] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0107] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically grabbing photovoltaic panels, characterized in that: include: When the working device receives a grabbing instruction, the boom is controlled to descend to the target position based on the acquired boom rotation angle, and the suction cup bracket is leveled at the same time; When the suction cup bracket is leveled, the suction cup is moved to the target position, and the position of the suction cup is determined according to each first switch; When the suction cup is in place, the target photovoltaic panel is adsorbed by the suction cup.

2. The method according to claim 1, characterized in that Before controlling the boom to descend to the target position based on the acquired boom rotation angle, the method further includes: When the working device is in an initial position, obtaining a grabbing instruction input by a user, wherein the working device includes a boom, a stick and attachments; Confirming the number of photovoltaic panels to be grasped, and determining a target position corresponding to a target photovoltaic panel based on the number of photovoltaic panels; Acquire the length of the target connecting rod in the working device, and determine the target connecting rod angle according to the target position and the initial position; Substituting the target connecting rod angle and length into the preset boom angle calculation formula, arm angle calculation formula and attachment angle calculation formula to determine the boom angle, arm angle and attachment angle; The arm is retracted based on the arm rotation angle.

3. The method according to claim 2, characterized in that The step of leveling the suction cup bracket comprises: Measuring the real-time angle of the suction cup bracket by means of a leveling sensor, wherein the number of the leveling sensors is at least three; Determine a leveling parameter corresponding to the real-time angle based on the attachment angle and a preset adjustment algorithm; The suction cup bracket is adjusted according to the leveling parameters to make the suction cup level.

4. The method according to claim 1, characterized in that The step of determining the suction cup in place according to each first switch includes: Determine whether each of the first switches is in a first preset position, and if so, determine that the suction cup is in place. The first switch is a suction cup in place proximity switch, and the number of the first switches is at least four; Otherwise, it is determined that the suction cup is not in place.

5. The method according to claim 2, characterized in that: After the target photovoltaic panel is adsorbed by the suction cup, the method further includes: Determining the suction cup adsorption status according to each second switch; When the suction cup is in place, the boom is retracted and the boom is controlled to move away from the ground to return the working device to its initial position.

6. The method according to claim 5, characterized in that The step of determining the suction cup adsorption status according to each second switch includes: Determine whether each of the second switches is in the second preset position, and if so, determine that the suction cup is in place, wherein the second switch is a vacuum pressure switch, and the number of the first switches is at least two; Otherwise, it is determined that the suction cup is not properly adsorbed.

7. The method according to claim 1, characterized in that After the target photovoltaic panel is adsorbed by the suction cup, the method further includes: Get the walking step distance set by the user; When a moving instruction input by the user is obtained, the walking device is controlled based on the walking step distance to move the working device to the next working position.

8. A photovoltaic panel automatic grabbing device, characterized in that: include: The suction cup bracket leveling module is used to control the boom to descend to the target position based on the acquired boom rotation angle when the working device receives the grabbing instruction, and to level the suction cup bracket at the same time; A suction cup moving module is used to move the suction cup to a target position after the suction cup bracket is leveled, and determine whether the suction cup is in place according to each first switch; The suction cup adsorption module is used to adsorb the target photovoltaic panel through the suction cup when the suction cup is in place.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method according to any one of claims 1 to 7 when executed.

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