Automatic laying method for photovoltaic module with mortise and tenon positioning and tear-resistant mortise mounting holes

Abstract

The invention provides an automatic laying method of a photovoltaic module with mortise and tenon positioning and tear-resistant mortise mounting holes, which comprises the following steps: processing and preparing the photovoltaic module, arranging composite C-shaped structures at four corners of a frame of the photovoltaic module, each composite C-shaped structure comprising an outer layer, an interlayer and an inner layer, and forming the mortise mounting holes in the interlayers; processing and preparing a photovoltaic mounting bracket, wherein the photovoltaic mounting bracket is provided with a tenon structure; and the photovoltaic module is automatically grabbed, the mortise mounting hole is recognized, the mortise mounting hole and the tenon structure are mounted in a mortise and tenon fit mode, and laying of the photovoltaic module on the photovoltaic mounting support is completed. The composite C-shaped structure is adopted to improve the tear resistance of the mortise mounting hole, and the structural stability of the photovoltaic module and the photovoltaic mounting bracket in severe environments such as sand storm after integrated mounting is improved; the photovoltaic module and the photovoltaic mounting bracket are connected through mortise and tenon mounting, and the photovoltaic module is automatically laid and mounted on the photovoltaic mounting bracket, so that the mounting efficiency of the photovoltaic module is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic power generation technology, and in particular to a method for automatically laying photovoltaic components with mortise and tenon positioning and tear-resistant mortise-eye mounting holes. Background Art

[0002] With the rapid development of the new energy industry, photovoltaic power generation systems are increasingly used in harsh environments such as sandstorms. The existing installation of photovoltaic modules usually requires manual operation, which is inefficient, and photovoltaic modules are easily torn and damaged by external forces. The traditional installation method of photovoltaic modules has problems such as numerous parts, complicated operating procedures, and high cost of photovoltaic installation brackets, which is not conducive to rapid construction in harsh environments. In addition, the existing photovoltaic frame fixing system cannot accurately locate the distance between the panels when installing the photovoltaic skylight, resulting in uneven thickness of the weather-resistant sealant, and the weather-resistant sealant will tear under extreme conditions.

[0003] There are already some patent applications for solving the problem of improving the convenience of photovoltaic module installation and the tear resistance of photovoltaic modules, and being suitable for harsh environments such as sandstorms. For example:

[0004] A photovoltaic module automatic installation robot and method. The patent uses a gripper at the end of the robotic arm to place the captured photovoltaic panel on the photovoltaic mounting bracket. The bottom of the gripper is provided with visual hardware to collect the position information of the photovoltaic panel and the photovoltaic mounting bracket. The controller processes the position information recognized by the visual hardware and controls the operation of the robotic arm to achieve automatic installation of the photovoltaic panel. However, the patent still has the problem that the photovoltaic module and the photovoltaic mounting bracket cannot be installed in an integrated manner.

[0005] A filling film laying device for photovoltaic modules can automatically lay the prepared cut film and non-porous film at the designated position of the photovoltaic module, thereby improving the automation of photovoltaic module production equipment. However, the patent still has the problem of improving the composition and performance of the tape to improve its bonding strength and reliability with the photovoltaic module.

[0006] However, the existing technology has the following technical problems in the installation of photovoltaic modules:

[0007] The mortise installation holes of photovoltaic modules are prone to tearing, which affects the service life of the photovoltaic modules.

[0008] Photovoltaic modules and photovoltaic mounting brackets cannot be installed in an integrated manner, which increases the installation process and difficulty.

[0009] Photovoltaic modules cannot be installed through automated visual positioning and require manual positioning and installation, which is inefficient.

[0010] The frame material of photovoltaic modules is not strong enough to meet the requirements of mechanized automatic installation.

[0011] The location and direction of the mortise and tenon mounting holes of photovoltaic modules are not designed reasonably, which is not conducive to visual identification and positioning. Summary of the invention

[0012] The present application provides a method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise installation holes, which can solve the technical problems existing in the prior art such as low installation efficiency of photovoltaic modules, susceptibility of photovoltaic modules to tearing and damage by external forces, complex operation of photovoltaic installation brackets with numerous parts, and tearing of weather-resistant adhesive caused by the inability to accurately position the spacing between panels.

[0013] In a first aspect, the present application provides a method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise eye mounting holes, comprising the following steps:

[0014] Processing and preparing photovoltaic modules, wherein a composite C-shaped structure is arranged at the four corners of the frame of the photovoltaic module, the composite C-shaped structure comprises an outer layer, an interlayer and an inner layer, the outer layer and the inner layer are both C-shaped structures, the arc-shaped convex part of the C-shaped structure faces the frame corner, the outer layer is used to fix the tempered glass layer, the inner layer is used to fix the battery layer, and the interlayer is provided with mortise mounting holes;

[0015] Processing and preparing a photovoltaic mounting bracket, wherein the photovoltaic mounting bracket has a tenon structure;

[0016] Automatically grab the photovoltaic components, identify the mortise and tenon installation holes, and install the mortise and tenon installation holes and tenon structure together to complete the laying of the photovoltaic components on the photovoltaic mounting bracket.

[0017] In combination with the first aspect, in one embodiment, the C-shaped structure of the inner layer and the C-shaped structure of the outer layer are aligned in a vertical direction.

[0018] In combination with the first aspect, in one implementation, a center line of the composite C-shaped structure coincides with a diagonal line of a corresponding frame corner.

[0019] In combination with the first aspect, in one implementation, the mortise mounting hole is a square hole, and the long side of the square hole is arranged in a horizontal direction.

[0020] In combination with the first aspect, in one implementation, the frame of the photovoltaic module is fixedly connected to the tempered glass layer and the cell layer by high-temperature pressing or bonding.

[0021] In combination with the first aspect, in one implementation, the outer layer and the inner layer of the composite C-shaped structure are fixed to the frame by welding or riveting, respectively.

[0022] In combination with the first aspect, in one implementation, the automatic grabbing of photovoltaic components specifically includes the following steps:

[0023] Use visual recognition systems to locate photovoltaic modules;

[0024] The robot grabs the photovoltaic module according to the acquired positioning information of the photovoltaic module.

[0025] In combination with the first aspect, in one implementation, the chassis of the robot is a track chassis.

[0026] In combination with the first aspect, in one embodiment, the mortise and tenon cooperate with the mortise and tenon structure to complete the laying of the photovoltaic assembly on the photovoltaic mounting bracket, specifically including the following steps:

[0027] Match and insert the tenon structure on the photovoltaic mounting bracket into the mortise mounting holes at the four corners of the photovoltaic module frame;

[0028] The tenon structure and the mortise and tenon mounting holes are installed in coordination with each other by applying pressure through the robotic arm.

[0029] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0030] By adopting a composite C-shaped structure, the tear resistance of the mortise mounting holes is improved, and the structural stability of the photovoltaic modules and photovoltaic mounting brackets after integrated installation in harsh environments such as sandstorms is improved; the photovoltaic modules and photovoltaic mounting brackets are connected through mortise and tenon installation, and the photovoltaic modules are automatically laid and installed on the photovoltaic mounting brackets, effectively improving the installation efficiency of photovoltaic modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 The present invention is a method flow chart of an automatic laying method of photovoltaic components with mortise and tenon positioning and tear-resistant mortise eye mounting holes. DETAILED DESCRIPTION

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

[0034] like Figure 1As shown, the present application provides a method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes, comprising the following steps:

[0035] Step S1: Processing and preparing a photovoltaic module, wherein a composite C-shaped structure is arranged at the four corners of the frame of the photovoltaic module, wherein the composite C-shaped structure comprises an outer layer, an interlayer and an inner layer, wherein both the outer layer and the inner layer are C-shaped structures, wherein the arc-shaped convex portion of the C-shaped structure faces the corner of the frame, wherein the outer layer is used to fix the tempered glass layer, wherein the inner layer is used to fix the battery cell layer, wherein the interlayer is fixedly connected to the frame, and wherein mortise mounting holes are provided on the interlayer;

[0036] Step S2: processing and preparing a photovoltaic mounting bracket, wherein the photovoltaic mounting bracket has a tenon structure;

[0037] Step S3: Automatically grab the photovoltaic module, identify the mortise installation hole, and install the mortise installation hole and the tenon structure in coordination with the tenon to complete the laying of the photovoltaic module on the photovoltaic mounting bracket.

[0038] The present application improves the tear resistance of the mortise mounting holes by adopting a composite C-shaped structure, thereby improving the structural stability of the mortise mounting holes in harsh environments such as sandstorms after the integrated installation of photovoltaic modules and photovoltaic mounting brackets, thereby ensuring the service life of the photovoltaic modules; the photovoltaic modules and photovoltaic mounting brackets are connected by mortise and tenon installation, while ensuring the integrated and rapid installation of the photovoltaic modules and photovoltaic mounting brackets, thereby improving the stability of the overall structure after the integrated installation of the photovoltaic modules and photovoltaic mounting brackets; and realizes the automatic laying and installation of photovoltaic modules on the photovoltaic mounting brackets, thereby effectively improving the installation efficiency of photovoltaic modules.

[0039] In the transformed embodiment of the present application, it can also be realized that the four corners of the frame of the photovoltaic component are provided with a tenon structure, the photovoltaic mounting bracket is provided with a corresponding mortise mounting hole, the tenon structure is arranged on the interlayer, and the four corners of the frame are provided with corresponding holes for the tenon structure to pass through.

[0040] In one embodiment, the frame is made of high-strength steel with a strength of 600 MPa or above and is surface treated, such as hot-dip galvanizing or plastic spraying.

[0041] In one embodiment, the inner C-shaped structure and the outer C-shaped structure are aligned in the vertical direction, wherein the vertical direction is the thickness direction of the photovoltaic module. The mortise and tenon mounting holes are located at the inner periphery of the concave portion of the C-shaped structure, and the double-layer C-shaped structure acts as a reinforcing rib to strengthen the stress-bearing edge of the mortise and tenon mounting holes. When the photovoltaic module is in a severe weather environment such as a sandstorm or a typhoon, even if the wind blows, the edge of the mortise and tenon mounting hole with weaker structural strength near the frame corner is difficult to be torn under the enhanced protection of the double-layer C-shaped structure.

[0042] In one embodiment, the center line of the composite C-shaped structure coincides with or is slightly offset from the diagonal of the corresponding frame corner, so as to provide a more balanced enhanced protection for the periphery of the mortise mounting hole on both sides of the diagonal of the frame corner, thereby preventing the C-shaped structure from abutting against one side of the diagonal, thereby causing tear resistance on the edge of the mortise mounting hole on the other side.

[0043] In one embodiment, the mortise and tenon mounting hole is a square hole, and the long side of the square hole is arranged in a horizontal direction, which facilitates the alignment of the mortise and tenon mounting fit between the photovoltaic component and the photovoltaic mounting bracket, and is convenient for visual identification and grasping by a robotic arm.

[0044] In one embodiment, the frame of the photovoltaic module in step S1 is fixedly connected to the tempered glass layer and the cell layer by high-temperature pressing or bonding; the outer layer of the composite C-shaped structure is welded or riveted to the frame, and the inner layer of the composite C-shaped structure is welded or riveted to the frame. More specifically, the composite C-shaped structure is arranged in the frame gap of the frame, the outer layer is welded or riveted to the inner side of the upper layer of the frame, the inner layer is welded or riveted to the inner side of the lower layer of the frame, the interlayer is located between the outer layer and the inner layer, and the interlayer and the frame are provided with corresponding mortise mounting holes.

[0045] In one embodiment, the automatic grabbing of the photovoltaic component in step S3 specifically includes the following steps:

[0046] Use visual recognition systems to locate photovoltaic modules;

[0047] The robot grabs the photovoltaic components according to the acquired positioning information of the photovoltaic components to realize the automatic installation and laying of the photovoltaic components on the photovoltaic mounting bracket.

[0048] In one embodiment, the visual recognition system uses an AI algorithm to adapt to severe weather such as sandstorms and improve the accuracy and stability of its installation.

[0049] In one embodiment, the chassis of the robot is a crawler chassis to adapt to the complex terrain in the environment where the photovoltaic equipment is located, thereby improving the environmental adaptability and installation efficiency of the robot and ensuring the smooth automatic laying and installation of photovoltaic components by the robot.

[0050] In one embodiment, the mortise and tenon joints in step S3 cooperate with the mortise and tenon mounting holes and the tenon structure to complete the laying of the photovoltaic assembly on the photovoltaic mounting bracket, which specifically includes the following steps:

[0051] Match and insert the tenon structure on the photovoltaic mounting bracket into the mortise mounting holes at the four corners of the photovoltaic module frame;

[0052] The tenon structure and the mortise installation hole are installed by the tenon-tenon joint by applying pressure through the mechanical arm;

[0053] The above-mentioned matching insertion and pressurizing mortise and tenon joint installation operations are completed for each photovoltaic module, and all photovoltaic modules are laid on the photovoltaic mounting bracket to achieve the integrated assembly of the photovoltaic modules and the photovoltaic mounting bracket.

[0054] The following describes the specific implementation forms of the method for automatically laying photovoltaic components with mortise and tenon positioning and tear-resistant mortise-eye mounting holes provided by the present application through several specific embodiments.

[0055] Embodiment 1

[0056] A specific embodiment of the present application is a method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes, comprising the following steps:

[0057] Step 1: Use a new type of steel frame photovoltaic module, the frame is made of high-strength steel to improve the overall mechanical strength of the photovoltaic module; specifically: use steel with a steel strength of 600MPa or above to manufacture the photovoltaic module frame, such as Q345B steel; perform hot-dip galvanizing on the frame to improve corrosion resistance; assemble the frame with the tempered glass layer and the monocrystalline silicon cell layer through the EVA layer lamination process;

[0058] Step 2: A composite C-shaped structure is used in the frame of the photovoltaic module to improve the tear resistance of the mortise mounting hole; specifically, the composite C-shaped structure is set at the four corners of the frame; the composite C-shaped structure includes two layers of inner and outer C-shaped structures, the inner C-shaped structure is used to fix the tempered glass layer, and the outer C-shaped structure is used to fix the battery layer; a mortise mounting hole is opened on the composite C-shaped structure, the mortise mounting hole is located at the interlayer of the inner and outer C-shaped structures, and the size of the mortise mounting hole is 20 mm long × 10 mm wide;

[0059] Step 3: Change the direction of the photovoltaic module mortise mounting hole to the horizontal direction to facilitate visual identification and positioning; specifically: change the opening direction of the mortise mounting hole to the horizontal direction; the shape of the mortise mounting hole is designed to be a rectangle, with the long side facing the horizontal direction, the long side size is 20 mm, and the short side size is 10 mm;

[0060] Step 4: reserve mortise mounting holes on the frame of the photovoltaic module to achieve integrated installation with the photovoltaic mounting bracket; specifically, reserve mortise mounting holes at the four corners of the frame; the shape of the mortise mounting holes is a concave-convex matching tenon-mortise structure, and the concave size is 30mm long × 20mm wide × 10mm deep; a convex structure matching the mortise mounting holes is provided on the photovoltaic mounting bracket, and the convex size is 28mm long × 18mm wide × 12mm high;

[0061] Step 5: Automatically drive to the installation location through the crawler chassis; specifically: adopt a crawler chassis, equipped with a lithium battery power supply system, with automatic navigation function, and can autonomously drive to the installation area according to the preset route;

[0062] Step 6: The robot arm is equipped with a visual recognition system to identify the position of the mortise mounting hole; specifically, the visual recognition system includes a 20-megapixel high-resolution industrial camera and an image processing unit; the industrial camera captures the image of the photovoltaic module frame; the image processing unit processes the image and uses a deep learning-based target detection algorithm to identify the position coordinates of the mortise mounting hole;

[0063] Step 7: After aligning the mortise mounting holes, match the photovoltaic module into the tenon structure of the photovoltaic mounting bracket to complete the installation; specifically: the six-axis robot arm aligns the mortise mounting holes according to the mortise mounting hole position coordinates provided by the visual recognition system; aligns the mortise mounting holes of the photovoltaic module with the raised structure on the photovoltaic mounting bracket; through the motion control of the robot arm, the photovoltaic module is inserted into the photovoltaic mounting bracket, and the mortise mounting holes are engaged with the raised structure to complete the integrated installation;

[0064] Step 8: The visual system uses AI algorithms to adapt to harsh environments such as sandstorms. Specifically, the image processing unit of the visual system integrates a target detection algorithm based on deep learning. After being trained with a large amount of training data in sandstorm environments, it can accurately identify the location of the mortise installation holes in harsh environments such as sandstorms.

[0065] Embodiment 2

[0066] Another specific embodiment of the present application is a method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes, comprising the following steps:

[0067] Step 1: Use a new type of steel frame photovoltaic module, the frame is made of high-strength steel to improve the overall mechanical strength of the photovoltaic module; specifically: use steel with a steel strength of 700MPa or above to manufacture the photovoltaic module frame, such as Q690D steel; perform spray-painting on the frame to improve corrosion resistance; assemble the frame and the half-cell photovoltaic module layer through the ECA layer lamination process;

[0068] Step 2: A composite C-shaped structure is used in the frame of the photovoltaic module to improve the tear resistance of the mortise mounting holes; specifically: a composite C-shaped structure is set at the four corners of the frame; the composite C-shaped structure consists of two layers of inner and outer C-shaped structures, the inner C-shaped structure is used to fix the half-cell photovoltaic module layer, and the outer C-shaped structure is used to fix the backplane layer; a mortise mounting hole is opened on the composite C-shaped structure, the mortise mounting hole is located in the interlayer of the inner and outer C-shaped structures, and the size of the mortise mounting hole is 25 mm long × 12 mm wide;

[0069] Step 3: Change the direction of the photovoltaic module mortise mounting hole to the horizontal direction to facilitate visual identification and positioning; specifically: change the opening direction of the mortise mounting hole to the horizontal direction; the shape of the mortise mounting hole is designed to be a rectangle, with the long side facing the horizontal direction, the long side size is 25 mm, and the short side size is 12 mm;

[0070] Step 4: reserve mortise mounting holes on the frame of the photovoltaic module to achieve integrated installation with the photovoltaic mounting bracket; specifically, reserve mortise mounting holes at the four corners of the frame; the shape of the mortise mounting holes is a concave-convex matching tenon-and-mortise structure, and the size of the concave part is 35mm long × 25mm wide × 12mm deep; a concave structure matching the mortise mounting holes is provided on the photovoltaic mounting bracket, and the size of the concave is 33mm long × 23mm wide × 14mm deep;

[0071] Step 5: Automatically drive to the installation location through the crawler chassis; specifically: adopt a crawler chassis, equipped with a diesel generator power supply system, with automatic navigation function, and can autonomously drive to the installation area according to the preset route;

[0072] Step 6. The robot arm is equipped with a visual recognition system to identify the position of the mortise mounting hole. Specifically, the visual recognition system includes a 16-megapixel high-resolution industrial camera, a laser rangefinder, and an image processing unit. The industrial camera captures the image of the photovoltaic module frame, and the laser rangefinder obtains the three-dimensional point cloud data of the photovoltaic module frame. The image processing unit fuses the image and point cloud data, and uses a deep learning-based target detection and three-dimensional reconstruction algorithm to identify the three-dimensional position coordinates of the mortise mounting hole.

[0073] Step 7: After aligning the mortise mounting holes, insert the photovoltaic module into the mortise and tenon holes of the photovoltaic mounting bracket to complete the installation; specifically: the six-axis robot arm aligns the mortise mounting holes according to the three-dimensional position coordinates of the mortise mounting holes provided by the visual recognition system; aligns the mortise mounting holes of the photovoltaic module with the recessed structure on the photovoltaic mounting bracket; through the motion control of the robot arm, the photovoltaic module is inserted into the photovoltaic mounting bracket, and the mortise and tenon structure is engaged with the recessed structure to complete the integrated installation;

[0074] Step 8: The visual system uses AI algorithms to adapt to harsh environments such as sandstorms. Specifically, the image processing unit of the visual system integrates target detection and 3D reconstruction algorithms based on deep learning. After being trained with a large amount of training data in sandstorm environments, it can accurately identify the 3D position of the mortise installation hole in harsh environments such as sandstorms.

[0075] Embodiment 3

[0076] Another specific embodiment of the present application is a method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes, comprising the following steps:

[0077] Step 1: Use a new type of steel frame photovoltaic module, the frame is made of high-strength steel to improve the overall mechanical strength of the photovoltaic module; specifically: use steel with a steel strength of 800MPa or above to manufacture the photovoltaic module frame, such as Q960E steel; perform electrogalvanizing surface treatment on the frame to improve corrosion resistance; assemble the frame and the double-glass photovoltaic module layer through a POE layer lamination process;

[0078] Step 2: A composite C-shaped structure is used in the frame of the photovoltaic module to improve the tear resistance of the mortise mounting hole; specifically, a composite C-shaped structure is set at the four corners of the frame; the composite C-shaped structure consists of two layers of inner and outer C-shaped structures, the inner C-shaped structure is used to fix the lower tempered glass, and the outer C-shaped structure is used to fix the upper tempered glass; a mortise mounting hole is opened on the composite C-shaped structure, the mortise mounting hole is located at the interlayer of the inner and outer C-shaped structures, and the size of the mortise mounting hole is 30 mm long × 15 mm wide;

[0079] Step 3: Change the direction of the photovoltaic module mortise mounting hole to the horizontal direction to facilitate visual identification and positioning; specifically: change the opening direction of the mortise mounting hole to the horizontal direction; the shape of the mortise mounting hole is designed to be a rectangle, with the long side facing the horizontal direction, the long side size is 30 mm, and the short side size is 15 mm;

[0080] Step 4: reserve mortise mounting holes on the frame of the photovoltaic module to achieve integrated installation with the photovoltaic mounting bracket; specifically, reserve mortise mounting holes at the four corners of the frame; the shape of the mortise mounting holes is a concave-convex matching tenon-tenon structure, and the concave size is 40mm long × 30mm wide × 15mm deep; a convex structure matching the mortise mounting holes is provided on the photovoltaic mounting bracket, and the convex size is 38mm long × 28mm wide × 17mm high;

[0081] Step 5: Automatically drive to the installation location via a crawler chassis; specifically: a crawler chassis is used, equipped with a fuel cell power supply system, and has an automatic navigation function, and can autonomously drive to the installation area according to a preset route;

[0082] Step 6. The robot arm is equipped with a visual recognition system to identify the position of the mortise mounting hole. Specifically, the visual recognition system includes a 40-megapixel high-resolution industrial camera, a laser radar, and an image processing unit. The industrial camera captures the image of the photovoltaic module frame, and the laser radar obtains the three-dimensional point cloud data of the photovoltaic module frame and the surrounding environment. The image processing unit fuses the image and point cloud data, and uses a semantic segmentation and three-dimensional reconstruction algorithm based on deep learning to identify the three-dimensional position coordinates of the mortise mounting hole.

[0083] Step 7, after aligning the mortise installation holes, insert the photovoltaic module into the mortise and tenon holes of the photovoltaic mounting bracket to complete the installation; specifically: the six-axis robot arm aligns the mortise installation holes according to the three-dimensional position coordinates of the mortise installation holes provided by the visual recognition system; aligns the mortise installation holes of the photovoltaic module with the raised structure on the photovoltaic mounting bracket; through the motion control of the robot arm, the photovoltaic module is inserted into the photovoltaic mounting bracket, and the mortise and tenon structure is engaged with the raised structure to complete the integrated installation;

[0084] Step 8. The visual system uses AI algorithms to adapt to harsh environments such as sandstorms. Specifically, the image processing unit of the visual system integrates semantic segmentation and 3D reconstruction algorithms based on deep learning. After a large amount of training data in sandstorm environments, it can accurately identify the 3D position of the mortise installation holes in harsh environments such as sandstorms, and at the same time model the surrounding environment to avoid obstacles and ensure a safe and reliable installation process.

[0085] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0086] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0087] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes, characterized in that: The following steps are involved: Processing and preparing photovoltaic modules, wherein a composite C-shaped structure is arranged at the four corners of the frame of the photovoltaic module, the composite C-shaped structure comprises an outer layer, an interlayer and an inner layer, the outer layer and the inner layer are both C-shaped structures, the arc-shaped convex part of the C-shaped structure faces the frame corner, the outer layer is used to fix the tempered glass layer, the inner layer is used to fix the battery layer, and the interlayer is provided with mortise mounting holes; Processing and preparing a photovoltaic mounting bracket, wherein the photovoltaic mounting bracket has a tenon structure; Automatically grab the photovoltaic components, identify the mortise and tenon installation holes, and install the mortise and tenon installation holes and tenon structure together to complete the laying of the photovoltaic components on the photovoltaic mounting bracket.

2. The method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes as claimed in claim 1, characterized in that: The inner C-shaped structure and the outer C-shaped structure are aligned in the vertical direction.

3. The method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes as claimed in claim 1, characterized in that: The center line of the composite C-shaped structure coincides with the diagonal line of the corresponding frame corner.

4. The method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes as claimed in claim 3, characterized in that: The mortise mounting hole is a square hole, and the long side of the square hole is arranged in a horizontal direction.

5. The method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes as claimed in claim 1, characterized in that: The frame of the photovoltaic module is fixedly connected to the tempered glass layer and the battery sheet layer by high-temperature pressing or bonding.

6. The method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes as claimed in claim 1, characterized in that: The outer layer and the inner layer of the composite C-shaped structure are fixed on the frame by welding or riveting respectively.

7. The method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes as claimed in claim 1, characterized in that: The automatic grabbing of photovoltaic components specifically includes the following steps: Use visual recognition systems to locate photovoltaic modules; The robot grabs the photovoltaic module according to the acquired positioning information of the photovoltaic module.

8. The method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes as claimed in claim 7, characterized in that: The chassis of the robot is a crawler chassis.

9. The method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes according to claim 1, wherein the mortise and tenon cooperate with the mortise mounting holes and the tenon structure to complete the laying of photovoltaic modules on the photovoltaic mounting bracket, specifically comprising the following steps: Match and insert the tenon structure on the photovoltaic mounting bracket into the mortise mounting holes at the four corners of the photovoltaic module frame; The tenon structure and the mortise and tenon mounting holes are installed in coordination with each other by applying pressure through the robotic arm.

10. The method for automatically laying photovoltaic modules with mortise and tenon positioning and tear-resistant mortise mounting holes as claimed in claim 1, characterized in that: The frame is surface treated by hot-dip galvanizing or plastic spraying.

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