Kidney-shaped hole alignment method and system for photovoltaic panel installation

Abstract

The invention discloses a waist-shaped hole alignment method and system for photovoltaic panel installation, and the method comprises the steps: obtaining the data of a waist-shaped hole of an installation support, and obtaining the data of the waist-shaped hole of a photovoltaic panel when the photovoltaic panel is placed; analyzing the kidney-shaped hole data of the mounting bracket, the kidney-shaped hole data of the photovoltaic panel and the radius of the bolt to obtain a feasible region of the mounting bracket and a feasible region of the photovoltaic panel respectively; and judging whether the central points of the feasible regions on the mounting bracket are on the same plane or not, if so, continuing the next process, and if not, continuing the next process after calculating the optimal mounting plane. According to the main technical scheme and effects, the optimal installation position can be automatically recognized through the positions of kidney-shaped holes in the photovoltaic panel and the installation support, and bolts can be directly inserted into the photovoltaic panel for fixation after the photovoltaic panel is placed.

Description

Technical Field

[0001] The invention relates to the field of image recognition, and in particular to a waist-shaped hole alignment method and system for photovoltaic panel installation. Background Art

[0002] With the development of new energy, it is necessary to lay a large number of photovoltaic panels in some places with strong sunlight and sparse human habitation. This requires the use of equipment to place the photovoltaic panels on the mounting bracket and fix them with bolts.

[0003] At present, there are many defects when installing photovoltaic panels on mounting brackets. The mounting brackets are generally composed of multiple metal rod structures welded together, which leads to poor precision of the mounting brackets for photovoltaic panels. On the one hand, the surface of the mounting bracket that fits with the photovoltaic panel cannot be guaranteed to be always flat. On the other hand, since the fixing holes on the mounting surface of the mounting bracket cannot form a standard rectangular structure, the fixing holes on the surface that fits with the photovoltaic panel cannot be guaranteed to be always aligned with the fixing holes on the photovoltaic panel. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to solve the defects in the prior art that the surface of the mounting bracket that fits with the photovoltaic panel cannot be guaranteed to be always flat, and on the other hand, the fixing holes on the surface that fits with the photovoltaic panel and the fixing holes on the photovoltaic panel cannot be guaranteed to be always aligned, and to provide a waist-shaped hole alignment method and system for photovoltaic panel installation, which can realize automatic identification of the best point for installing the photovoltaic panel on the bracket.

[0005] Technical solution:

[0006] In a first aspect, the present application proposes a waist-shaped hole alignment method for photovoltaic panel installation, comprising the steps of:

[0007] Step 1, obtaining waist-shaped hole data of the mounting bracket, and obtaining waist-shaped hole data of the photovoltaic panel when placing the photovoltaic panel;

[0008] Step 2, by analyzing the waist hole data of the mounting bracket and the waist hole data of the photovoltaic panel and the radius of the bolt, the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel are obtained respectively;

[0009] Step 3, determine whether the center points of the feasible domain on the mounting bracket are on the same plane, if so, continue to the next process, if not, calculate the best mounting plane and then continue to the next process;

[0010] Step 4: Analyze the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel to obtain the optimal overlap point, and then grab the photovoltaic panel for placement.

[0011] Prior to placing the photovoltaic panels, the waist hole data of the photovoltaic panels are obtained, including:

[0012] Obtain standard parts drawings of photovoltaic panels;

[0013] Visually identify the corners of the photovoltaic panels when placing them;

[0014] The relative position of the waist-shaped hole on the photovoltaic panel is calculated based on the corner points of the photovoltaic panel and the standard parts drawing.

[0015] Preferably, by analyzing the waist hole data of the mounting bracket and the waist hole data of the photovoltaic panel and the radius of the bolt, the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel are obtained respectively, including:

[0016] Get the diameter of the bolt that needs to be fixed;

[0017] The waist holes of the mounting bracket and the waist holes of the photovoltaic panel are corroded according to the bolt radius, and the feasible domains of the mounting bracket and the photovoltaic panel are obtained respectively.

[0018] First, determine whether the center points of the feasible domain on the mounting bracket are on the same plane, including:

[0019] Visually identify the center points of all feasible regions of mounting brackets on the mounting brackets;

[0020] Calculate the deviation distance from the plane formed by the center points of the feasible domain of any three mounting brackets on the mounting bracket to the center point of the feasible domain of any mounting bracket;

[0021] When the deviation distance is less than a preset threshold, it is determined that the center points of the feasible domains on the mounting bracket are in the same plane.

[0022] If preferred, the optimal installation plane is calculated and the next process is continued, including:

[0023] Construct a test plane to calculate whether the distance between the center point of the feasible domain of the remaining mounting brackets on the mounting bracket and the test plane meets the bolt length;

[0024] The optimal installation plane is obtained by analyzing the feasible domain of the installation bracket;

[0025] Project the feasible area of ​​the mounting bracket onto the optimal mounting plane.

[0026] Prioritize, construct a test plane to calculate whether the distance from the center point of the feasible domain of the remaining mounting brackets on the mounting bracket to the test plane meets the bolt length, including:

[0027] Construct a test plane through the center points of the feasible domain of any three mounting brackets on the same mounting bracket;

[0028] The acute angle between the test plane and the vertical direction is taken as the normal direction;

[0029] Calculate the distance D between the center point of the feasible region of the remaining mounting brackets on the mounting bracket and the test plane i ;

[0030] Judgement D i Whether the length is less than the effective length of the bolt, the formula is as follows:

[0031]

[0032] Where L is the thickness of the bolts to be installed minus the nuts and photovoltaic panels, x i Is the distance between the center point of the feasible region of the i-th mounting bracket and the test plane whether it meets the installation requirements. If the result is 1, it meets the requirements, and if the result is 0, it does not meet the requirements. abs(D i ) represents the distance between the center point of the feasible domain of the i-th mounting bracket and the test plane. When the distance is smaller than L, it means that the installation requirements are met. By setting the normal direction, when the position of the center point of the feasible domain of the mounting bracket relative to the test plane is consistent with the normal direction, D i is positive, so that the center point of the feasible region of the mounting bracket is opposite to the normal direction of the test plane, then D i is negative, so when D i When it is a negative value, the installation requirements are met.

[0033] First, the optimal installation plane is obtained by analyzing the feasible domain of the mounting bracket, including the following formula:

[0034]

[0035] Among them, when the condition is met When it is less than 0, perform a maximization operation and set all D i When the maximum value is selected from the sum of i If it is greater than or equal to zero, there is no optimal installation plane and the output result is 0.

[0036] First, the optimal overlap point is obtained by analyzing the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel, and then the photovoltaic panel is grabbed and placed, including:

[0037] Obtain all points within the feasible domain of the mounting brackets and the points within the feasible domain of the photovoltaic panels;

[0038] Construct a triangle with any three points in the feasible domain of all mounting brackets, and also construct a triangle with any three points in the feasible domain of all corresponding photovoltaic panels;

[0039] The optimal point is calculated through the loss function.

[0040] First, the optimal point is calculated through the loss function, including the following formula:

[0041]

[0042] in, Construct the sides of a triangle for any three points in the feasible region of all photovoltaic panels. Construct the sides of a triangle for any three points in the feasible region of all light mounts, is the feasible domain of photovoltaic panels, Feasible range of mounting bracket, L loss So corresponding and When L loss When it is 0, the optimal point where the midpoint of the feasible domain of the photovoltaic panel and the midpoint of the feasible domain of the mounting bracket coincide with each other is taken.

[0043] In a second aspect, the present application further proposes a system used in the waist-shaped hole alignment method for photovoltaic panel installation as described in the above embodiment, characterized in that it includes: a photovoltaic panel, a mounting bracket and a manipulator, and the manipulator is configured to implement the following steps:

[0044] Step 1: Get the waist hole data of the mounting bracket. When placing the photovoltaic panel, get the waist hole data of the photovoltaic panel.

[0045] Step 2, by analyzing the waist hole data of the mounting bracket and the waist hole data of the photovoltaic panel and the radius of the bolt, the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel are obtained respectively;

[0046] Step 3, determine whether the center points of the feasible domain on the mounting bracket are on the same plane, if so, continue to the next process, if not, calculate the best mounting plane and then continue to the next process;

[0047] Step 4: Analyze the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel to obtain the optimal overlap point, and then grab the photovoltaic panel for placement.

[0048] Beneficial effects: The best installation position can be automatically identified through the positions of the waist holes on the photovoltaic panel and the mounting bracket, so that the photovoltaic panel can be directly fixed by inserting bolts after installation, without the need to manually align the photovoltaic panel and the mounting bracket. Moreover, even if the mounting surface of the mounting bracket is uneven, the best installation position can be found. Even if the mounting hole on the mounting surface of the mounting bracket is not a marked rectangle, the error can be overcome to the greatest extent for alignment and installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Provide a schematic diagram of the method framework for the present invention;

[0050] Figure 2 A schematic diagram of a feasible domain is provided for the present invention.

[0051] Reference numerals:

[0052] 1. Waist-shaped hole of photovoltaic panel; 2. Feasible domain of photovoltaic panel; 3. Waist-shaped hole of mounting bracket; 4. Feasible domain of mounting bracket; 5. Bolt; 6. Center point of bolt. DETAILED DESCRIPTION

[0053] In order to make the technical solution of the present invention clearer, the present invention is further described in detail below with reference to the specific embodiments of the accompanying drawings.

[0054] Example 1

[0055] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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 are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be understood by people with general skills in the field to which the present invention belongs. "Including" and similar words used in this article mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0056] In view of the problems existing in the existing technology, such as Figure 1 and Figure 2 As shown, a waist-shaped hole alignment method for photovoltaic panel installation includes the following steps:

[0057] Step 1, obtain the waist-shaped hole 3 data of the mounting bracket, and obtain the waist-shaped hole 1 data of the photovoltaic panel when placing the photovoltaic panel.

[0058] Step 2, by analyzing the waist-shaped hole data of the mounting bracket and the waist-shaped hole data of the photovoltaic panel and the radius of the bolt 5, the feasible domain 4 of the mounting bracket and the feasible domain 2 of the photovoltaic panel are obtained respectively;

[0059] Step 3, determine whether the center points of the feasible domain on the mounting bracket are on the same plane, if so, continue to the next process, if not, calculate the best mounting plane and then continue to the next process;

[0060] Step 4: Analyze the feasible domain 4 of the mounting bracket and the feasible domain 2 of the photovoltaic panel to obtain the best overlap point, and then grab the photovoltaic panel for placement.

[0061] Specifically, the point data of the mounting bracket and the waist-shaped hole on the photovoltaic panel are obtained, wherein the waist-shaped hole 3 of the mounting bracket and the waist-shaped hole 1 of the photovoltaic panel are placed nearly vertically, and the radius data of the bolt 5 are obtained. The distance of the radius of the bolt 5 extending inward from the inner wall of the waist-shaped hole 3 of the mounting bracket is the feasible domain 4 of the mounting bracket, and the distance of the radius of the bolt 5 extending inward from the inner wall of the waist-shaped hole 1 of the photovoltaic panel is the feasible domain 2 of the photovoltaic panel. Therefore, when the feasible domain 2 of the photovoltaic panel and the feasible domain 4 of the mounting bracket overlap, the center of the bolt 5 can exist in the overlapping area, so that the bolt 5 can successfully pass through the waist-shaped hole 3 of the mounting bracket and the waist-shaped hole 1 of the photovoltaic panel, which is convenient for the installation of the bolt 5.

[0062] In addition, when the photovoltaic panel is placed on the mounting bracket, it is determined whether the photovoltaic panel fits the mounting bracket (the photovoltaic panel is generally flatter), and whether the center point of the feasible domain 4 of multiple mounting brackets can fit the photovoltaic panel. If it fits, it means that there is no or only a small gap between the photovoltaic panel and the mounting bracket when the bolt 5 is installed, and the next step is performed. If the photovoltaic panel and the mounting bracket are not fitted, that is, the mounting surface of the mounting bracket is not flat, and a distance is generated at some waist-shaped hole positions, therefore, the next step is performed after determining the best mounting plane;

[0063] Since the multiple waist-shaped holes of the mounting bracket do not form a rectangle, it is necessary to determine a suitable photovoltaic panel placement point so that the photovoltaic panel can be placed exactly on the mounting bracket.

[0064] In some specific embodiments, the photovoltaic panel waist hole 1 data is obtained when placing the photovoltaic panel, including:

[0065] Obtain standard parts drawings of photovoltaic panels;

[0066] Visually identify the corners of the photovoltaic panels when placing them;

[0067] The relative position of the waist-shaped hole on the photovoltaic panel is calculated based on the corner points of the photovoltaic panel and the standard parts drawing.

[0068] Specifically, the standard parts drawing of the photovoltaic panel contains the dimensions and layout of all key features. The drawings are obtained in the following ways: a binocular camera is used to obtain the corner points of the photovoltaic panel, and the coordinates or size information on the standard parts drawing are used to calculate the position of the waist-shaped hole. Assuming that the standard parts drawing has given a fixed distance or angle of the waist-shaped hole relative to the four corner points, this information is used to calculate the specific position of the waist-shaped hole on the photovoltaic panel.

[0069] In some specific embodiments, the data of the waist-shaped hole 3 of the mounting bracket and the data of the waist-shaped hole 1 of the photovoltaic panel are respectively obtained through the radius of the bolt 5 to obtain the feasible domain 4 of the mounting bracket and the feasible domain 2 of the photovoltaic panel, including:

[0070] Get the diameter of the bolt 5 that needs to be fixed;

[0071] The waist-shaped holes of the mounting bracket and the waist-shaped holes of the photovoltaic panel are corroded with a radius of bolt 5, and the feasible domain 4 of the mounting bracket and the feasible domain 2 of the photovoltaic panel are obtained respectively.

[0072] Specifically, the diameter of the bolt 5 is a key parameter in the entire installation process because it determines the size of the feasible domain. The corrosion operation is based on a given radius. By expanding the waist-shaped hole area, an effective feasible area is calculated. The "corrosion" here does not refer to chemical corrosion in the traditional sense, but refers to the expansion operation of the waist-shaped hole area through mathematical methods. The principle of the corrosion operation: the corrosion operation expands the inner contour of the waist-shaped hole according to the radius to obtain a new area. This area is the feasible domain where the bolt 5 can pass through the hole. The core idea of ​​the corrosion operation is that when the center point 6 of the bolt falls within this expanded area, the bolt 5 can pass through the hole. The feasible domain 4 of the installation bracket and the feasible domain 2 of the photovoltaic panel are calculated, and the overlapping parts of the two are compared. If the two have enough overlapping areas, the bolt 5 can smoothly pass through the waist-shaped holes of the photovoltaic panel and the bracket.

[0073] In some specific embodiments, determining whether the center points of the feasible regions on the mounting bracket are on the same plane includes:

[0074] By visually identifying the center point of the feasible domain 4 of all mounting brackets on the mounting bracket;

[0075] Calculate the deviation distance from the center point of the feasible domain 4 of any three mounting brackets on the mounting bracket to the center point of the feasible domain 4 of any mounting bracket;

[0076] When the deviation distance is less than a preset threshold, it is determined that the center points of the feasible domains on the mounting bracket are in the same plane.

[0077] Specifically, the boundaries of all feasible domains on the bracket are identified through image processing algorithms (such as edge detection, contour extraction, etc.), and the coordinates of the center point of each identified feasible domain are calculated. Assuming that any three center points of the feasible domain on the mounting bracket are selected, it is necessary to calculate the plane determined by these three points. The deviation distance refers to the distance from a center point of a feasible domain to the plane determined by three other points. If the deviation distance is less than a preset threshold, the point is considered to be on the plane.

[0078] In some specific embodiments, after calculating the optimal installation plane, the next process is continued, including:

[0079] Construct a test plane to calculate whether the distance between the center point of the feasible domain 4 of the remaining mounting brackets on the mounting bracket and the test plane meets the length of the bolt 5;

[0080] The optimal installation plane is obtained by analyzing the feasible domain 4 of the installation bracket;

[0081] Project the feasible domain 4 of the mounting bracket onto the optimal mounting plane.

[0082] Specifically, when the mounting surface of the mounting bracket is uneven, the distance between any feasible domain center point and the test plane constructed by any other three feasible domain center points is determined. This test plane is the assumed installation position of the photovoltaic panel. If this distance is greater than the length of bolt 5, then the photovoltaic panel cannot be fixed by bolt 5 in conjunction with the nut. Then, a test plane, that is, the optimal installation plane, is found. When the distance between all feasible domain center points and the test plane constructed by any other three feasible domain center points is less than the length of bolt 5, all waist holes can be installed with bolt 5, so that the same installation effect as the center point of the feasible domain on the mounting bracket on the same plane can be achieved.

[0083] In some specific embodiments, constructing a test plane to calculate whether the distance between the center point of the feasible domain 4 of the remaining mounting brackets on the mounting bracket and the test plane meets the length of the bolt 5 includes:

[0084] A test plane is constructed through the center points of the feasible domain 4 of any three mounting brackets on the same mounting bracket;

[0085] The acute angle between the test plane and the vertical direction is taken as the normal direction;

[0086] Calculate the distance D between the center point of the feasible region 4 of the remaining mounting brackets on the mounting bracket and the test plane i ;

[0087] Judgement D i Whether the length is less than the effective length of bolt 5, the formula is as follows:

[0088]

[0089] Where L is the thickness of the bolt 5 to be installed minus the nut and the photovoltaic panel, x i Is the distance between the center point of the feasible region 4 of the i-th mounting bracket and the test plane whether it meets the installation requirements. If the result is 1, it meets the requirements, and if the result is 0, it does not meet the requirements. abs(D i ) represents the distance between the center point of the feasible domain 4 of the i-th mounting bracket and the test plane. When the distance is smaller than L, it means that the installation requirements are met. By setting the normal direction, when the position of the center point of the feasible domain 4 of the mounting bracket relative to the test plane is consistent with the normal direction, D i is positive, so that the center point of the feasible domain 4 of the mounting bracket is opposite to the normal direction of the test plane, then D i is negative, so when D i When it is a negative value, the installation requirements are met.

[0090] Specifically, when the mounting surface of the mounting bracket is tilted, the tilt upward is positive, and the tilt downward is negative. i If it is positive, it means that the waist-shaped hole 3 of the mounting bracket is above the test plane, that is, the waist-shaped hole 3 of the mounting bracket will support the photovoltaic panel and affect the installation of other waist-shaped holes. Therefore, D i If it is negative, it means that the waist-shaped hole 3 of the mounting bracket is relative to the bottom of the test plane. At this time, the waist-shaped hole 3 of the mounting bracket will not support the photovoltaic panel, and the other waist-shaped holes can fit the photovoltaic panel with a small error. Therefore, select D i If it is negative, that is, less than zero, the solution is retained. In order to ensure the smooth installation of the photovoltaic panel, the length of the bolt 5 cannot exceed the distance from the center point of the feasible domain 4 of the mounting bracket to the test plane, otherwise the nut cannot be inserted into one end of the bolt 5 to fix it.

[0091] In some specific embodiments, the optimal installation plane is obtained by analyzing the feasible domain 4 of the installation bracket, including the following formula:

[0092]

[0093] Among them, when the condition is met When it is less than 0, perform a maximization operation and set all D i When the maximum value is selected from the sum of i If it is greater than or equal to zero, there is no optimal installation plane and the output result is 0.

[0094] Specifically, for all arbitrary D i The feasible domain of the mounting bracket is less than 0. 4. For each set of test plane conditions, D i Add them together and select the set of test planes with the largest result, because the gap between the mounting bracket and the photovoltaic panel bracket is the smallest when this plane is used, and it is more stable during installation.

[0095] In some specific embodiments, the optimal overlap point is obtained by analyzing the feasible domain 4 of the mounting bracket and the feasible domain 2 of the photovoltaic panel, and then the photovoltaic panel is grabbed and placed, including:

[0096] Obtain all points within the feasible domain 4 of the mounting bracket and the points within the feasible domain 2 of the photovoltaic panel;

[0097] Construct a triangle with any three points in the feasible domain 4 of all mounting brackets, and also construct a triangle with any three points in the feasible domain 2 of all corresponding photovoltaic panels;

[0098] The optimal point is calculated through the loss function.

[0099] In some specific embodiments, the optimal point is calculated by a loss function, including the following formula:

[0100]

[0101] in, Construct the sides of a triangle for any three points in the feasible region 2 of all photovoltaic panels, Construct the sides of a triangle for any three points in the feasible domain 4 of all optical mounting brackets, is the feasible domain 2 of photovoltaic panels, Mounting bracket feasible range 4, L loss So corresponding and When L loss When it is 0, the optimal point where the midpoint of the feasible domain 2 of the photovoltaic panel and the midpoint of the feasible domain 4 of the mounting bracket coincide with each other is taken.

[0102] Specifically, after selecting the best plane or the plane is already selected, the best installation point of the photovoltaic panel on the mounting bracket is selected to overcome the defect of the non-rectangular distribution of the waist-shaped holes 3 of the mounting bracket; the loss function L loss It is the key part of the optimization problem, which is used to measure the error between the photovoltaic panel and the point on the mounting bracket. The goal of this optimization problem is to adjust the position of the photovoltaic panel and the point on the bracket so that the loss function L loss Minimize, which means that the distance between the corresponding points on the photovoltaic panel and the mounting bracket should be as close as possible to achieve the best docking. loss =0, it means that the three points on the photovoltaic panel and the mounting bracket are completely aligned, and the corresponding sides are equal, which meets the optimal installation requirements. That is, the feasible domain of the photovoltaic panel completely overlaps with the feasible domain of the bracket. At this time, the position of the photovoltaic panel on the mounting bracket is the optimal position.

[0103] In some specific embodiments, a system is also proposed for use in the waist-shaped hole alignment method for photovoltaic panel installation as described in the above embodiment, including: a photovoltaic panel, a mounting bracket and a manipulator, and the manipulator is configured to implement the following steps:

[0104] Step 1, obtain the waist-shaped hole 3 data of the mounting bracket, and obtain the waist-shaped hole 1 data of the photovoltaic panel when placing the photovoltaic panel.

[0105] Step 2, by analyzing the waist-shaped hole data of the mounting bracket and the waist-shaped hole data of the photovoltaic panel and the radius of the bolt 5, the feasible domain 4 of the mounting bracket and the feasible domain 2 of the photovoltaic panel are obtained respectively;

[0106] Step 3, determine whether the center points of the feasible domain on the mounting bracket are on the same plane, if so, continue to the next process, if not, calculate the best mounting plane and then continue to the next process;

[0107] Step 4: Analyze the feasible domain 4 of the mounting bracket and the feasible domain 2 of the photovoltaic panel to obtain the best overlap point, and then grab the photovoltaic panel for placement.

[0108] The above is only a specific implementation of the embodiment of the present invention, but the protection scope of the embodiment of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiment of the present invention should be included in the protection scope of the embodiment of the present invention. Therefore, the protection scope of the embodiment of the present invention should be based on the protection scope of the claims.

Claims

1. A waist-shaped hole alignment method for photovoltaic panel installation, characterized in that: Includes steps: Step 1, obtaining waist-shaped hole data of the mounting bracket, and obtaining waist-shaped hole data of the photovoltaic panel when placing the photovoltaic panel; Step 2, by analyzing the waist hole data of the mounting bracket and the waist hole data of the photovoltaic panel and the radius of the bolt, the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel are obtained respectively; Step 3, determine whether the center points of the feasible domain on the mounting bracket are on the same plane, if so, continue to the next process, if not, calculate the best mounting plane and then continue to the next process; Step 4: Analyze the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel to obtain the optimal overlap point, and then grab the photovoltaic panel for placement.

2. The method according to claim 1, characterized in that When placing photovoltaic panels, the waist hole data of the photovoltaic panels are obtained, including: Obtain standard parts drawings of photovoltaic panels; Visually identify the corners of the photovoltaic panels when placing them; The relative position of the waist-shaped hole on the photovoltaic panel is calculated based on the corner points of the photovoltaic panel and the standard parts drawing.

3. The method according to claim 1, characterized in that By analyzing the waist hole data of the mounting bracket and the waist hole data of the photovoltaic panel and the radius of the bolt, the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel are obtained respectively, including: Get the diameter of the bolt that needs to be fixed; The waist holes of the mounting bracket and the waist holes of the photovoltaic panel are corroded according to the bolt radius, and the feasible domains of the mounting bracket and the photovoltaic panel are obtained respectively.

4. The method according to claim 1, characterized in that Determine whether the center points of the feasible regions on the mounting bracket are on the same plane, including: Visually identify the center points of all feasible regions of mounting brackets on the mounting brackets; Calculate the deviation distance from the plane formed by the center points of the feasible domain of any three mounting brackets on the mounting bracket to the center point of the feasible domain of any mounting bracket; When the deviation distance is less than a preset threshold, it is determined that the center points of the feasible domains on the mounting bracket are in the same plane.

5. The method according to claim 1, characterized in that After calculating the best installation plane, continue to the next process, including: Construct a test plane to calculate whether the distance between the center point of the feasible domain of the remaining mounting brackets on the mounting bracket and the test plane meets the bolt length; The optimal installation plane is obtained by analyzing the feasible domain of the installation bracket; Project the feasible area of ​​the mounting bracket onto the optimal mounting plane.

6. The method according to claim 1, characterized in that: Construct a test plane to calculate whether the distance between the center point of the feasible domain of the remaining mounting brackets on the mounting bracket and the test plane meets the bolt length, including: Construct a test plane through the center points of the feasible domain of any three mounting brackets on the same mounting bracket; The acute angle between the test plane and the vertical direction is taken as the normal direction; Calculate the distance D between the center point of the feasible region of the remaining mounting brackets on the mounting bracket and the test plane i ; Judgement D i Whether the length is less than the effective length of the bolt, the formula is as follows: Where L is the thickness of the bolts to be installed minus the nuts and photovoltaic panels, x i Is the distance between the center point of the feasible region of the i-th mounting bracket and the test plane whether it meets the installation requirements. If the result is 1, it meets the requirements, and if the result is 0, it does not meet the requirements. abs(D i ) represents the distance between the center point of the feasible domain of the i-th mounting bracket and the test plane. When the distance is smaller than L, it means that the installation requirements are met. By setting the normal direction, when the position of the center point of the feasible domain of the mounting bracket relative to the test plane is consistent with the normal direction, D i is positive, so that the center point of the feasible region of the mounting bracket is opposite to the normal direction of the test plane, then D i is negative, so when D i When it is a negative value, the installation requirements are met.

7. The method according to claim 6, characterized in that The optimal installation plane is obtained by analyzing the feasible domain of the installation bracket, including the following formula: Among them, when the condition is met When it is less than 0, perform a maximization operation and set all D i When the maximum value is selected from the sum of i If it is greater than or equal to zero, there is no optimal installation plane and the output result is 0.

8. The method according to claim 1, characterized in that The optimal overlap point is obtained by analyzing the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel, and then the photovoltaic panel is grabbed and placed, including: Obtain all points within the feasible domain of the mounting brackets and the points within the feasible domain of the photovoltaic panels; Construct a triangle with any three points in the feasible domain of all mounting brackets, and also construct a triangle with any three points in the feasible domain of all corresponding photovoltaic panels; The optimal point is calculated through the loss function.

9. The method according to claim 8, characterized in that The optimal point is calculated through the loss function, including the following formula: in, Construct the sides of a triangle for any three points in the feasible region of all photovoltaic panels. Construct the sides of a triangle for any three points in the feasible region of all light mounts, is the feasible domain of photovoltaic panels, Feasible range of mounting bracket, L loss So corresponding and When L loss When it is 0, the optimal point where the midpoint of the feasible domain of the photovoltaic panel and the midpoint of the feasible domain of the mounting bracket coincide with each other is taken.

10. A system comprising the waist-shaped hole alignment method for photovoltaic panel installation according to claims 1 to 9, characterized in that: include: Photovoltaic panels, mounting brackets and manipulators are configured to achieve the following steps: Step 1, obtaining waist-shaped hole data of the mounting bracket, and obtaining waist-shaped hole data of the photovoltaic panel when placing the photovoltaic panel; Step 2, by analyzing the waist hole data of the mounting bracket and the waist hole data of the photovoltaic panel and the radius of the bolt, the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel are obtained respectively; Step 3, determine whether the center points of the feasible domain on the mounting bracket are on the same plane, if so, continue to the next process, if not, calculate the best mounting plane and then continue to the next process; Step 4: Analyze the feasible domain of the mounting bracket and the feasible domain of the photovoltaic panel to obtain the optimal overlap point, and then grab the photovoltaic panel for placement.

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