Automatic tooling installation method, system, terminal, and medium based on target detection

Abstract

The present application provides a method, system, terminal and medium for automatic installation of tooling based on target detection, the method comprising: controlling a robotic arm to clamp the tooling, and placing the tooling above a photovoltaic module so that the tooling is engaged with the photovoltaic module; the photovoltaic module comprises a plurality of junction boxes, each of which is provided with a plug; the tooling comprises a number of plug-in modules equal to the number of plugs, each of which is provided with an interface that matches the plug; controlling a robotic arm to clamp the plug and insert the plug into the corresponding interface; performing real-time detection of the insertion status of the plug based on a target detection algorithm; and judging whether the plug is successfully inserted into the interface based on the insertion status. The present application effectively improves production efficiency and reduces manual labor intensity by introducing a robotic arm to place the tooling. In addition, the present application implements an automated detection process based on a target detection algorithm, which can effectively replace manual work to complete the tooling installation and reduce the quality impact caused by human factors.

Description

Technical Field

[0001] The present application belongs to the field of photovoltaic cell technology and relates to a method, system, terminal and medium for automatic installation of tooling based on target detection. Background Art

[0002] The photovoltaic industry, a vital component of renewable energy, has experienced rapid growth in recent years. As the core component of photovoltaic power generation systems, the production efficiency and quality of photovoltaic cells significantly impact the overall development of the photovoltaic industry. The production of photovoltaic modules involves numerous precise and complex processes, one of which is power-on testing of the modules. During this testing process, fixtures are used in conjunction with the modules. The fixtures are connected to the modules to form a circuit loop, and then the copper blocks at each end of the fixtures are used to power the modules, completing the power-on test.

[0003] Traditional tooling installation methods rely primarily on manual labor. However, manual operation can lead to low production efficiency for photovoltaic modules. Furthermore, the correct connection between the tooling and the photovoltaic module depends entirely on the operator's experience and visual judgment, which places extremely high demands on the operator's concentration. Due to long periods of repetitive work, operators are prone to fatigue and lack of concentration, which can lead to technical problems such as improper connection. These problems not only affect the production efficiency and quality of photovoltaic cells but can also cause failures in subsequent production links, increasing production costs and making repairs more difficult. Summary of the Invention

[0004] The purpose of this application is to provide a method, system, terminal and medium for automatic installation of tooling based on target detection, which is used to solve the technical problems of low production efficiency and improper insertion caused by relying on manual installation of tooling in the existing technology.

[0005] In the first aspect, the present application provides a method for automatic installation of tooling based on target detection, including: controlling a robotic arm to clamp the tooling, and placing the tooling above a photovoltaic component so that the tooling is engaged with the photovoltaic component; the photovoltaic component includes a plurality of junction boxes, each of which is equipped with a plug; the tooling includes a number of plug-in modules equal to the number of the plugs, and each of the plug-in modules is provided with an interface matching the plug; controlling the robotic arm to clamp the plug and insert the plug into the corresponding interface; performing real-time detection of the insertion status of the plug based on a target detection algorithm; and judging whether the plug is successfully inserted into the interface based on the insertion status.

[0006] In an implementation of the first aspect, the method further includes:

[0007] Before controlling the robotic arm to clamp the plug, performing real-time detection of the clamping state between the tooling and the photovoltaic module based on a target detection algorithm;

[0008] Determining whether the tool is correctly engaged with the photovoltaic module based on the engagement state;

[0009] If yes, the current connection state between the tooling and the photovoltaic module is maintained unchanged;

[0010] Otherwise, the robot arm is controlled to re-place the tool and re-detect the engagement state until the tool and the photovoltaic component reach a correct engagement state.

[0011] In an implementation of the first aspect, the real-time detection of the engagement state between the tool and the photovoltaic assembly based on a target detection algorithm includes:

[0012] Collecting images of the connection parts between the tool and the photovoltaic module;

[0013] The image of the clamping part is processed based on a target detection algorithm to obtain the frame width of the photovoltaic component and the clamping width between the tool and the photovoltaic component.

[0014] In an implementation of the first aspect, judging whether the tool is correctly engaged with the photovoltaic assembly based on the engagement state includes:

[0015] Calculating a ratio of the clamping width to the frame width;

[0016] comparing a ratio of the clamping width to the border width with a preset threshold value;

[0017] If the ratio of the clamping width to the frame width is within the preset threshold range, it is determined that the tooling is correctly clamped to the photovoltaic module;

[0018] Otherwise, it is determined that the tooling is incorrectly engaged with the photovoltaic component.

[0019] In an implementation of the first aspect, controlling the robotic arm to clamp the plug and insert the plug into the corresponding interface includes:

[0020] Acquire an image containing the tooling and the photovoltaic assembly and use it as a target image;

[0021] Performing visual analysis on the target image to determine position information of the tooling and the photovoltaic module; the position information of the tooling includes pixel coordinates of the first interface and pixel coordinates of the second interface, and the position information of the photovoltaic module includes pixel coordinates of the first plug and pixel coordinates of the second plug;

[0022] Mapping pixel coordinates into spatial coordinates recognizable by the robotic arm based on a coordinate conversion algorithm; the spatial coordinates include the spatial coordinates of the first interface, the spatial coordinates of the second interface, the spatial coordinates of the first plug, and the spatial coordinates of the second plug;

[0023] Controlling the robotic arm to grasp the first plug from the spatial coordinates of the first plug, move the first plug to the spatial coordinates of the first interface, and insert the first plug into the first interface;

[0024] The robotic arm is controlled to clamp the second plug from the spatial coordinates of the second plug, move the second plug to the spatial coordinates of the second interface, and insert the second plug into the second interface.

[0025] In an implementation of the first aspect, an ejector pin is provided inside the plug; a plurality of power-on copper blocks are provided at the top of the plug-in module, each of the power-on copper blocks being electrically connected to the ejector pin; and real-time detection of the plug insertion status based on a target detection algorithm includes:

[0026] Collecting images of the tooling and the photovoltaic module plug-in locations;

[0027] Determining the length of the ejector pin, the center coordinates of the electrical copper block, the center coordinates of the plug, the length of the plug wire end, the length of the plug wire end, and the inclination angle of the plug wire end based on the image of the plug connection portion;

[0028] Calculating the straight-line distance between the center coordinates of the power-on copper block and the center coordinates of the plug;

[0029] The ratio between the length of the plug wire end and the length of the plug wire head is calculated to obtain a calculated ratio.

[0030] In an implementation of the first aspect, determining whether the plug is successfully inserted into the interface based on the insertion status includes:

[0031] Determining whether the length of the ejector pin is less than a first preset threshold, the straight-line distance is less than a second preset threshold, the calculated ratio is greater than a third preset threshold, and the inclination angle of the plug wire end is less than a fourth preset threshold are simultaneously satisfied;

[0032] If so, it is determined that the plug is successfully inserted into the interface;

[0033] Otherwise, it is determined that the plug is not successfully inserted into the interface.

[0034] In a second aspect, the present application provides a tooling automatic installation system based on target detection, comprising: a first control module, configured to control a robotic arm to grip a tooling and place the tooling above a photovoltaic module so that the tooling is engaged with the photovoltaic module; the photovoltaic module comprises a plurality of junction boxes, each of which is configured with a plug; the tooling comprises a number of plug-in modules equal to the number of the plugs, each of which is provided with an interface matching the plug; a second control module, configured to control the robotic arm to grip the plugs and insert the plugs into the corresponding interfaces;

[0035] The target detection module is used to detect the insertion status of the plug in real time based on the target detection algorithm; the status judgment module is used to judge whether the plug is successfully inserted into the interface based on the insertion status.

[0036] In a third aspect, the present application provides a terminal, comprising: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory, so that the terminal executes any of the methods described above.

[0037] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the methods described above.

[0038] As described above, the target detection-based automatic tool installation method, system, terminal, and medium described in this application effectively improve production efficiency and reduce manual labor intensity by introducing a robotic arm to place the tool, while ensuring the accuracy and consistency of the tool placement position. In addition, this application implements an automated detection process based on a target detection algorithm, which can effectively replace manual installation of tooling, reduce the impact of human factors on the quality of the photovoltaic module production process, and provide important support for the development of automated production of photovoltaic modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Shown is a schematic diagram of the hardware application scenario of the target detection-based tooling automatic installation method, system, terminal and medium described in this application.

[0040] Figure 2 Shown is a structural diagram of a mobile terminal according to an embodiment of the present application in one embodiment.

[0041] Figure 3 Shown is a flow chart of an embodiment of the tooling automatic installation method based on target detection described in this application.

[0042] Figure 4 Shown is a flow chart of another embodiment of the tooling automatic installation method based on target detection described in this application.

[0043] Figure 5 Schematic diagram showing the range of variation of the plug angle described in this application in one embodiment.

[0044] Figure 6 Shown is a schematic diagram of the clamping portion described in this application in one embodiment.

[0045] Figure 7 Shown is a schematic structural diagram of an embodiment of the ejector pin described in this application.

[0046] Figure 8 A schematic diagram showing the coordinates of the center point of the electrified copper block described in this application in one embodiment.

[0047] Figure 9 Shown is a schematic diagram of the straight-line distance described in this application in one embodiment.

[0048] Figure 10 Shown is a schematic diagram of a plug cord head and a plug cord terminal described in this application in one embodiment.

[0049] Figure 11 Shown is a structural schematic diagram of an embodiment of a tooling automatic installation system based on target detection described in this application.

[0050] Figure 12 Shown is a schematic structural diagram of a terminal described in this application in one embodiment. DETAILED DESCRIPTION

[0051] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0052] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0053] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0054] The following embodiments of the present application provide a method, system, terminal and medium for automatic installation of tooling based on target detection. The technical solution of the present application is applicable to the application scenario of power-on testing of photovoltaic modules. By introducing a robotic arm to place the tooling, it effectively improves production efficiency, reduces manual labor intensity, and can ensure the accuracy and consistency of the tooling placement position. In addition, the present application implements an automated detection process based on a target detection algorithm, which can effectively replace manual installation of tooling, reduce the quality impact of human factors on the production process of photovoltaic modules, and provide important support for the development of automated production of photovoltaic modules.

[0055] See also Figure 1 , which shows a hardware application scenario diagram of the tooling automatic installation method, system, terminal and medium based on target detection described in this application. Figure 1 As shown, the fixture is a pole-mounted power-on fixture. Installation is completed by snapping the two ends of the fixture onto the photovoltaic module and then connecting the plug on the photovoltaic module to the corresponding interface on the fixture. Subsequently, the photovoltaic module power-on test can be successfully completed using existing testing methods.

[0056] In the following embodiments of the present application, the target detection algorithm may be any type of YOLO, SSD, or Faster R-CNN, or any version of YoloV5, V8, or V11. This application does not specifically limit the model type and version of the target detection algorithm used.

[0057] See Figure 2 As shown, the tooling automatic installation method based on target detection provided by the embodiment of the present application can be run in a mobile terminal, a computer terminal or similar device. Taking running on the mobile terminal as an example, Figure 2 is a hardware structure diagram of the mobile terminal, such as Figure 2 Taking the mobile terminal as an example, the mobile terminal may include: a processor and a memory, the processor may be a central processing unit, and the memory is used to store data. Figure 2The mobile terminal in the figure is only used as an example and does not limit the specific structure of the mobile terminal.

[0058] Optionally, the mobile terminal may further include: a communication transmission device and an input / output device.

[0059] Optionally, the memory can be used to store computer programs, such as software programs and modules of application software. The memory may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely located relative to the processor, and these remote memories may be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0060] Optionally, the communication transmission device can be used to receive or send data via a network, which may include a wireless network provided by the communication provider of the mobile terminal. The communication transmission device may include a NIC (Network Interface Controller) that can be connected to other network devices through a base station so as to communicate with the Internet.

[0061] The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings in the embodiments of the present application.

[0062] See also Figure 3 , which is a flow chart of an embodiment of the tooling automatic installation method based on target detection described in this application. Figure 3 As shown, an embodiment of the present application provides a method for automatic tool installation based on target detection, including the following steps S100 to S400.

[0063] In step S100 , the robot arm is controlled to clamp the tooling and place the tooling on top of the photovoltaic module so that the tooling is engaged with the photovoltaic module.

[0064] Specifically, this application employs a camera positioned on the left, center, and right sides of a photovoltaic module to capture images of the corresponding areas. By processing these images using an object detection algorithm, the positions of the tooling and the photovoltaic module can be visually determined. Based on the resulting positional coordinates, a robotic arm can perform precise tooling pick-up and placement operations.

[0065] It should be noted that the present application controls the robotic arm to clamp the two ends of the tooling onto the frame of the photovoltaic module. However, the present application does not make any specific restrictions on the clamping position of the tooling on the frame of the photovoltaic module.

[0066] Since robotic arms have the advantages of high precision, high speed and high repeatability, and can perform complex movements and operations, this application effectively improves production efficiency and reduces manual labor intensity by introducing robotic arms to place tooling, while ensuring the accuracy and consistency of tooling placement.

[0067] In one embodiment of the present application, the photovoltaic assembly includes a plurality of junction boxes, each of which is equipped with a plug. The tooling includes a number of plug-in modules equal to the number of the plugs, each of which is equipped with an interface matching the plug.

[0068] Specifically, the junction box is disposed on the surface of the photovoltaic module. In this embodiment, the photovoltaic module is provided with a junction box on the left, middle, and right sides, respectively. However, the technical solution of this application is designed and implemented only for the junction boxes on the left and right sides, and the junction box in the middle is not considered within the scope of this embodiment.

[0069] In this application, the junction box on the left side of the photovoltaic module is defined as the first junction box, and the junction box on the right side is defined as the second junction box. The plug configured for the first junction box is defined as the first plug, and the plug configured for the second junction box is defined as the second plug.

[0070] Based on the same definition, the plug-in module on the left side of the tooling is defined as the first plug-in module, and the plug-in module on the right side is defined as the second plug-in module. The interface configured by the first plug-in module is defined as the first interface, and the interface configured by the second plug-in module is defined as the second interface. The first interface can establish an electrical connection with the first plug, and the second interface can establish an electrical connection with the second plug.

[0071] In step S200 , the robotic arm is controlled to clamp the plug and insert the plug into the corresponding interface.

[0072] In one embodiment of the present application, controlling the robotic arm to grip the plug and inserting the plug into the corresponding interface includes: Figure 4 Steps S201 to S205 are shown.

[0073] In step S201 , an image including the tooling and the photovoltaic assembly is collected and used as a target image.

[0074] In step S202, the target image is visually analyzed to determine the posture information of the tooling and the photovoltaic module; the posture information of the tooling includes the pixel coordinates of the first interface and the pixel coordinates of the second interface, and the posture information of the photovoltaic module includes the pixel coordinates of the first plug and the pixel coordinates of the second plug.

[0075] In step S203, the pixel coordinates are mapped to spatial coordinates recognizable by the robotic arm based on a coordinate conversion algorithm; the spatial coordinates include the spatial coordinates of the first interface, the spatial coordinates of the second interface, the spatial coordinates of the first plug, and the spatial coordinates of the second plug.

[0076] In step S204 , the robot arm is controlled to clamp the first plug from the spatial coordinates of the first plug, move the first plug to the spatial coordinates of the first interface, and insert the first plug into the first interface.

[0077] In step S205 , the robot arm is controlled to clamp the second plug from the spatial coordinates of the second plug, move the second plug to the spatial coordinates of the second interface, and insert the second plug into the second interface.

[0078] In one embodiment of the present application, controlling the robotic arm to clamp the plug and inserting the plug into the corresponding interface further includes the following steps S206 and S207.

[0079] In step S206 , a visual analysis is performed on the target image to determine the relative tilt angle between the plug and the interface.

[0080] In step S207 , before inserting the plug into the corresponding interface, the end posture of the robot arm is adjusted in real time based on the tilt angle so that the angle of the plug is consistent with that of the corresponding interface.

[0081] Since the initial posture of the plug is random, the plug angle is also random, which may cause a certain deviation between the plug angle and the interface angle.

[0082] See also Figure 5 , which is a schematic diagram showing the range of changes in the plug angle described in this application in one embodiment. Figure 5 As shown, when the plug is facing due left as 0 degrees, the plug angle ranges from 180 degrees to -180 degrees. By determining the relative tilt angle between the plug and the interface, the present application can adjust the state of the robot arm in time to ensure that the robot arm can insert the plug into the interface.

[0083] In one embodiment of the present application, the target detection-based automatic installation method for tooling provided in the present application also includes: before controlling the robotic arm to clamp the plug, performing real-time detection of the clamping state between the tooling and the photovoltaic component based on the target detection algorithm; judging whether the tooling is correctly clamped to the photovoltaic component based on the clamping state; if so, maintaining the current clamping state between the tooling and the photovoltaic component unchanged; otherwise, controlling the robotic arm to re-place the tooling and re-detecting the clamping state until the tooling and the photovoltaic component reach a correct clamping state.

[0084] In one embodiment of the present application, real-time detection of the clamping status of the tooling and the photovoltaic module based on a target detection algorithm includes: collecting images of the clamping parts of the tooling and the photovoltaic module; processing the images of the clamping parts based on the target detection algorithm to obtain the frame width of the photovoltaic module and the clamping width of the tooling and the photovoltaic module.

[0085] Specifically, the clamping width refers to the width of the actual contact or overlapping portion between the tooling and the photovoltaic module at the clamping position.

[0086] See also Figure 6 , which is a schematic diagram showing the clamping portion described in this application in one embodiment. Figure 6 As shown, w1 represents the frame width of the photovoltaic module, and w2 represents the clamping width between the tooling and the photovoltaic module.

[0087] In one embodiment of the present application, judging whether the tooling is correctly engaged with the photovoltaic component based on the engaging state includes: calculating the ratio of the engaging width to the frame width; comparing the ratio of the engaging width to the frame width with a preset threshold range; if the ratio of the engaging width to the frame width is within the preset threshold range, judging that the tooling is correctly engaged with the photovoltaic component; otherwise, judging that the tooling is incorrectly engaged with the photovoltaic component.

[0088] Specifically, the ratio of the clamping width to the border width is calculated using the following formula:

[0089] k=w1 / w2;

[0090] Wherein w1 represents the frame width of the photovoltaic module, and w2 represents the clamping width between the tooling and the photovoltaic module.

[0091] For example, the preset threshold interval is [0.2, 0.9], and k is compared with [0.2, 0.9]; if k is within [0.2, 0.9], it indicates that the tooling is correctly connected to the photovoltaic component; if k is not within [0.2, 0.9], it indicates that the tooling is incorrectly connected to the photovoltaic component.

[0092] In this implementation, by calculating the ratio of the clamping width to the frame width and comparing it with the preset threshold range, it is possible to quickly and accurately determine whether the tooling and the photovoltaic module are correctly clamped. This method is relatively simple and efficient.

[0093] In other embodiments, if the tooling is determined to be incorrectly engaged with the photovoltaic module, the system will issue an exception instruction. In this case, the robot arm can reposition the tooling according to the exception instruction, or a human operator can manually review and take necessary corrective measures based on the exception instruction.

[0094] It is important to note that the fixture and the photovoltaic module may have multiple attachment points. To ensure assembly quality, the attachment status of each attachment point must be verified. Only after all attachment points have been verified can subsequent operations be performed.

[0095] Furthermore, the preset threshold intervals for each attachment point can be independently set based on actual application requirements. This means that the threshold intervals for different attachment points can be set to the same or different values. This flexible parameter setting method effectively meets the needs of diverse application scenarios.

[0096] In step S300, the insertion status of the plug is detected in real time based on a target detection algorithm.

[0097] In actual operation, it is common for the plug to not be fully inserted. For example, when the robotic arm inserts the plug, it may not be able to fully insert the plug into the interface due to insufficient force. For another example, when the robotic arm completes the insertion action and releases the plug, the plug may become loose due to the release action of the robotic arm or external vibration, resulting in improper insertion. This application can promptly detect and correct the problem of improper insertion by detecting the insertion status of the plug in real time, thereby ensuring the reliability and stability of the plugging process.

[0098] In one embodiment of the present application, a thimble is provided inside the plug.

[0099] Ejector pins are typically designed as retractable mechanical components. When a plug is inserted into an interface, the ejector pins contact corresponding structures inside the plug-in module (such as springs or fixed baffles). As the plug is inserted deeper, the ejector pins are gradually pushed deeper into the plug, causing the exposed length of the ejector pins to decrease. Therefore, by measuring the exposed length of the ejector pins, the insertion depth of the plug can be indirectly determined. If the exposed length of the ejector pins exceeds a preset threshold, it indicates that the plug is not fully inserted.

[0100] See also Figure 7 , which is a schematic structural diagram of the ejector pin described in this application in one embodiment.

[0101] In one embodiment of the present application, a plurality of power-on copper blocks are provided on the top of the plug-in module, and each of the power-on copper blocks is electrically connected to the ejector pin.

[0102] In one embodiment of the present application, the real-time detection of the plug insertion status based on the target detection algorithm includes the following steps S301 and S304.

[0103] In step S301 , images of the connection locations of the tool and the photovoltaic module are collected.

[0104] In step S302, the length of the ejector pin, the center coordinates of the electrical copper block, the center coordinates of the plug, the length of the plug wire end, the length of the plug wire end, and the inclination angle of the plug wire end are determined based on the image of the plug connection part.

[0105] In step S303 , the straight-line distance between the center coordinates of the power-on copper block and the center coordinates of the plug is calculated.

[0106] See also Figure 8 , which is a schematic diagram showing the coordinates of the center point of the electrified copper block described in this application in one embodiment.

[0107] In this embodiment of the present application, to ensure the accuracy of the judgment result, the powered copper block closest to the ejector pin can be selected and its center coordinates obtained. For example, for the first plug-in module, the first powered copper block on the left can be selected; for the second plug-in module, the first powered copper block on the right can be selected.

[0108] It should be noted that the power-on copper block in the embodiment of the present application is not limited to the first power-on copper block, and other power-on copper blocks can also be applied to the technical solution of the present application.

[0109] See also Figure 9 , which is a schematic diagram showing the straight-line distance described in this application in one embodiment.

[0110] In this embodiment of the present application, the linear distance is a pixel distance. A larger pixel distance between the center coordinates of the power-on copper block and the center coordinates of the plug indicates a higher probability that the plug is not fully inserted. This is because when the plug is not fully inserted, it may be mostly outside the socket.

[0111] In step S304, the ratio between the length of the plug wire end and the length of the plug wire head is calculated to obtain a calculated ratio.

[0112] See also Figure 10 , which is a schematic diagram of the plug wire head and plug wire end described in this application in one embodiment.

[0113] Specifically, the calculation ratio can be calculated using the following formula:

[0114] c=a / b;

[0115] Wherein a represents the length of the plug wire end, and b represents the length of the plug wire end.

[0116] Theoretically, the calculated ratio ranges from [0, 1]. The calculated ratio reflects how deeply the plug is inserted into the socket. A larger calculated ratio indicates deeper insertion; conversely, a smaller calculated ratio indicates shallower insertion.

[0117] In step S400, it is determined whether the plug is successfully inserted into the interface based on the insertion status.

[0118] In one embodiment of the present application, determining whether the plug is successfully inserted into the interface based on the insertion status includes: determining whether the length of the ejector pin is less than a first preset threshold, the straight-line distance is less than a second preset threshold, the calculated ratio is greater than a third preset threshold, and the inclination angle of the plug wire end is less than a fourth preset threshold are simultaneously satisfied; if so, determining that the plug is successfully inserted into the interface; otherwise, determining that the plug is not successfully inserted into the interface.

[0119] In one embodiment of the present application, if any of the above conditions are not met, the system will issue an exception instruction. At this time, the robot arm can retry inserting the plug into the interface according to the exception instruction, or the staff can manually review and take necessary corrective measures based on the exception instruction.

[0120] In this implementation, an automated detection process is realized based on the target detection algorithm, which can effectively replace the manual work of inserting the plug into the tooling, reduce the impact of human factors on the quality of the photovoltaic module production process, and provide important support for the development of automated production of photovoltaic modules.

[0121] It should be noted that the protection scope of the automatic tooling installation method based on target detection described in the embodiment of the present application is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, subtracting, or replacing steps in the existing technology based on the principles of the present application are included in the protection scope of the present application.

[0122] See also Figure 11 , which is a schematic diagram of the structure of the tooling automatic installation system based on target detection in one embodiment of the present application. Figure 11 As shown, an embodiment of the present application provides a tooling automatic installation system based on target detection, including a first control module, a second control module, a target detection module and a state judgment module.

[0123] The first control module is used to control the mechanical arm to clamp the tooling and place the tooling above the photovoltaic component so that the tooling is engaged with the photovoltaic component.

[0124] Specifically, the photovoltaic assembly includes a plurality of junction boxes, each of which is equipped with a plug; the tooling includes plug-in modules whose number is equal to the number of the plugs, and each of the plug-in modules is provided with an interface matching the plug.

[0125] The second control module is used to control the robotic arm to clamp the plug and insert the plug into the corresponding interface.

[0126] The target detection module is used to detect the insertion status of the plug in real time based on a target detection algorithm.

[0127] The status judgment module is used to judge whether the plug is successfully inserted into the interface based on the insertion status.

[0128] It should be noted that the structures and principles of the first control module, the second control module, the target detection module and the state judgment module described in the embodiment of the present application correspond one-to-one to the steps in the above-mentioned target detection-based tooling automatic installation method, so they will not be repeated here.

[0129] The target detection-based automatic tool installation system provided in the embodiment of the present application can implement the target detection-based automatic tool installation method described in the present application, but the implementation device of the target detection-based automatic tool installation method described in the present application includes but is not limited to the structure of the target detection-based automatic tool installation system listed in the present embodiment. All structural deformations and replacements of the existing technology made according to the principles of the present application are included in the protection scope of the present application.

[0130] See also Figure 12 , which is a schematic diagram of the structure of the terminal described in this application in one embodiment. Figure 12 As shown, an embodiment of the present application provides a terminal, including: a processor and a memory.

[0131] The memory is used to store computer programs.

[0132] The processor is configured to execute the computer program stored in the memory, so as to enable the terminal to perform any of the above methods.

[0133] In one embodiment of the present application, the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The memory may be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0134] This embodiment also includes one or more of a multimedia component, an input / output (I / O) interface, and a communication component.

[0135] The multimedia component may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in a memory or sent through a communication component. The audio component also includes at least one speaker for outputting audio signals. The I / O interface provides an interface between the processor and other interface modules, and the above-mentioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component is used for wired or wireless communication between the timer and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component may include: a Wi-Fi module, a Bluetooth module, an NFC module.

[0136] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices or methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules or units, which can be electrical, mechanical or other forms.

[0137] The modules / units described as separate components may or may not be physically separate, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place or distributed across multiple network elements. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into a processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into a single module / unit.

[0138] Those skilled in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the composition and steps of each example according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0139] The embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which implements the method described in any one of the above when the program is executed by the processor. A person of ordinary skill in the art will understand that all or part of the steps in the method for implementing the above embodiment can be completed by instructing the processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state drive, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0140] The embodiment of the present application may also provide a computer program product, the computer program product including one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer or data center to another website, computer or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method.

[0141] When the computer program product is executed by a computer, the computer executes the method described in the above method embodiment. The computer program product can be a software installation package. When the above method is needed, the computer program product can be downloaded and executed on the computer.

[0142] The descriptions of the processes or structures corresponding to the above figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0143] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. A tooling automatic installation method based on target detection, characterized in that: include: Controlling the robotic arm to grip the tooling and place the tooling above the photovoltaic module so that the tooling is engaged with the photovoltaic module; the photovoltaic module includes a plurality of junction boxes, each of which is equipped with a plug; the tooling includes a number of plug-in modules equal to the number of the plugs, each of which is equipped with an interface that matches the plug; Controlling the robotic arm to clamp the plug and insert the plug into the corresponding interface; Performing real-time detection of the plug insertion status based on a target detection algorithm; determining whether the plug is successfully inserted into the interface based on the insertion status; The method further includes performing real-time detection of the engagement state between the tooling and the photovoltaic assembly based on a target detection algorithm before controlling the robotic arm to clamp the plug; Determining whether the tool is correctly engaged with the photovoltaic module based on the engagement state; If yes, the current connection state between the tooling and the photovoltaic module is maintained unchanged; Otherwise, the robot arm is controlled to reposition the tooling and re-check the engagement state until the tooling and the photovoltaic module reach a correct engagement state; The real-time detection of the connection state between the tooling and the photovoltaic module based on the target detection algorithm includes: Collecting images of the connection parts between the tool and the photovoltaic module; Processing the image of the clamping portion based on a target detection algorithm to obtain a frame width of the photovoltaic module and a clamping width between the tooling and the photovoltaic module; Judging whether the tool is correctly engaged with the photovoltaic component based on the engagement state includes: Calculating a ratio of the clamping width to the frame width; comparing a ratio of the clamping width to the border width with a preset threshold value; If the ratio of the clamping width to the frame width is within the preset threshold range, it is determined that the tooling is correctly clamped to the photovoltaic module; Otherwise, it is determined that the tooling is incorrectly engaged with the photovoltaic module; The plug is provided with an ejector pin inside; a plurality of power-on copper blocks are provided on the top of the plug-in module, and each of the power-on copper blocks is electrically connected to the ejector pin; and real-time detection of the plug insertion status based on a target detection algorithm includes: Collecting images of the tooling and the photovoltaic module plug-in locations; Determining the length of the ejector pin, the center coordinates of the electrical copper block, the center coordinates of the plug, the length of the plug wire end, the length of the plug wire end, and the inclination angle of the plug wire end based on the image of the plug connection portion; Calculating the straight-line distance between the center coordinates of the power-on copper block and the center coordinates of the plug; Calculating a ratio between the length of the plug wire end and the length of the plug wire end to obtain a calculated ratio; Determining whether the plug is successfully inserted into the interface based on the insertion status includes: Determining whether the length of the ejector pin is less than a first preset threshold, the straight-line distance is less than a second preset threshold, the calculated ratio is greater than a third preset threshold, and the inclination angle of the plug wire end is less than a fourth preset threshold are simultaneously satisfied; If so, it is determined that the plug is successfully inserted into the interface; Otherwise, it is determined that the plug is not successfully inserted into the interface.

2. The method according to claim 1, characterized in that Controlling the robotic arm to clamp the plug and insert the plug into the corresponding interface includes: Acquire an image containing the tooling and the photovoltaic assembly and use it as a target image; Performing visual analysis on the target image to determine position information of the tooling and the photovoltaic module; the position information of the tooling includes pixel coordinates of the first interface and pixel coordinates of the second interface, and the position information of the photovoltaic module includes pixel coordinates of the first plug and pixel coordinates of the second plug; Mapping pixel coordinates into spatial coordinates recognizable by the robotic arm based on a coordinate conversion algorithm; the spatial coordinates include the spatial coordinates of the first interface, the spatial coordinates of the second interface, the spatial coordinates of the first plug, and the spatial coordinates of the second plug; Controlling the robotic arm to grasp the first plug from the spatial coordinates of the first plug, move the first plug to the spatial coordinates of the first interface, and insert the first plug into the first interface; The robotic arm is controlled to clamp the second plug from the spatial coordinates of the second plug, move the second plug to the spatial coordinates of the second interface, and insert the second plug into the second interface.

3. A tooling automatic installation system based on target detection, characterized in that: include: A first control module is configured to control the robotic arm to grasp a tool and place the tool above the photovoltaic module so that the tool is engaged with the photovoltaic module; the photovoltaic module includes a plurality of junction boxes, each of which is equipped with a plug; the tool includes a number of plug-in modules equal to the number of the plugs, each of which is equipped with an interface that matches the plug; A second control module is used to control the robotic arm to clamp the plug and insert the plug into the corresponding interface; A target detection module, configured to detect the insertion status of the plug in real time based on a target detection algorithm; a status judgment module, configured to judge whether the plug is successfully inserted into the interface based on the insertion status; The system further includes, before controlling the robotic arm to clamp the plug, performing real-time detection of the clamping state between the tooling and the photovoltaic assembly based on a target detection algorithm; Determining whether the tool is correctly engaged with the photovoltaic module based on the engagement state; If yes, the current connection state between the tooling and the photovoltaic module is maintained unchanged; Otherwise, the robot arm is controlled to reposition the tooling and re-check the engagement state until the tooling and the photovoltaic module reach a correct engagement state; The real-time detection of the connection state between the tooling and the photovoltaic module based on the target detection algorithm includes: Collecting images of the connection parts between the tool and the photovoltaic module; Processing the image of the clamping portion based on a target detection algorithm to obtain a frame width of the photovoltaic module and a clamping width between the tooling and the photovoltaic module; Judging whether the tool is correctly engaged with the photovoltaic component based on the engagement state includes: Calculating a ratio of the clamping width to the frame width; comparing a ratio of the clamping width to the border width with a preset threshold value; If the ratio of the clamping width to the frame width is within the preset threshold range, it is determined that the tooling is correctly clamped to the photovoltaic module; Otherwise, it is determined that the tooling is incorrectly engaged with the photovoltaic module; The plug is provided with an ejector pin inside; a plurality of power-on copper blocks are provided on the top of the plug-in module, and each of the power-on copper blocks is electrically connected to the ejector pin; and real-time detection of the plug insertion status based on a target detection algorithm includes: Collecting images of the tooling and the photovoltaic module plug-in locations; Determining the length of the ejector pin, the center coordinates of the electrical copper block, the center coordinates of the plug, the length of the plug wire end, the length of the plug wire end, and the inclination angle of the plug wire end based on the image of the plug connection portion; Calculating the straight-line distance between the center coordinates of the power-on copper block and the center coordinates of the plug; Calculating a ratio between the length of the plug wire end and the length of the plug wire end to obtain a calculated ratio; Determining whether the plug is successfully inserted into the interface based on the insertion status includes: Determining whether the length of the ejector pin is less than a first preset threshold, the straight-line distance is less than a second preset threshold, the calculated ratio is greater than a third preset threshold, and the inclination angle of the plug wire end is less than a fourth preset threshold are simultaneously satisfied; If so, it is determined that the plug is successfully inserted into the interface; Otherwise, it is determined that the plug is not successfully inserted into the interface.

4. A terminal, characterized in that: include: processor and memory; The memory is used to store computer programs; The processor is configured to execute the computer program stored in the memory, so as to enable the terminal to perform the method according to any one of claims 1 to 2.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 2 is implemented.

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