Real-time Measurement and Calibration System for the Installation Process of Photovoltaic Power Stations

Abstract

The present invention relates to the technical field of photovoltaic power station installation monitoring, and specifically relates to a real-time measurement and calibration system for the installation process of a photovoltaic power station, including an installation data acquisition module, a positioning and calibration module, an environmental compensation module, an installation error analysis module, and a dynamic adjustment module; wherein: the installation data acquisition module: obtains the three-dimensional coordinate data, inclination angle data, and environmental parameters of the photovoltaic modules; the positioning and calibration module: constructs a component space topology network; the environmental compensation module: outputs an environmental compensation coefficient to correct the initial calibration parameters; the installation error analysis module: calculates the three-dimensional coordinate deviation and inclination angle deviation of each component. In the present invention, by measuring the three-dimensional coordinates and inclination angle data of the photovoltaic modules in real time, correcting the installation error in combination with environmental compensation, and using an automatic adjustment mechanism to drive the adjustment mechanism to accurately calibrate the position and angle of the components, the installation accuracy of the photovoltaic power station is improved, and the adaptability of the system to environmental changes is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power station installation monitoring, and particularly to a real-time measurement and calibration system for the installation process of a photovoltaic power station. Background Art

[0002] As an important part of clean energy, the power generation efficiency of a photovoltaic power station is closely related to the installation accuracy of components; during the construction of a photovoltaic power station, the installation of photovoltaic components needs to meet strict positioning requirements to ensure the optimal matching of the illumination angle; however, the traditional installation of photovoltaic components mainly relies on manual measurement and adjustment. The measurement method usually uses a total station or a laser level to confirm the position, and then manual adjustment is carried out. This method not only has low efficiency and large errors, but is also greatly affected by the experience of operators; in addition, environmental factors (such as thermal expansion of materials caused by temperature changes and deformation of components caused by wind loads) will also have a significant impact on the installation accuracy, and the existing installation methods cannot effectively consider these factors, resulting in accuracy deviations still existing after installation, affecting the long-term stability and power generation efficiency of photovoltaic components.

[0003] The existing technologies mainly have the following problems in the installation process of photovoltaic components: First, there is a lack of efficient and automated measurement and calibration means, and it is impossible to obtain accurate three-dimensional coordinate and inclination data of photovoltaic components in real time, resulting in difficult error control; second, the impact of environmental factors on the installation accuracy of photovoltaic components is not fully considered, and the existing calibration methods fail to establish an effective compensation mechanism, so that the components may have position offsets or inclination errors after installation; third, the existing adjustment methods are mostly static adjustments, and fail to perform closed-loop control in combination with real-time measurement data, resulting in the adjustment process relying on manual experience and unstable accuracy. Summary of the Invention

[0004] Based on the above purposes, the present invention provides a real-time measurement and calibration system for the installation process of a photovoltaic power station.

[0005] The real-time measurement and calibration system for the installation process of a photovoltaic power station includes an installation data acquisition module, a positioning and calibration module, an environmental compensation module, an installation error analysis module, and a dynamic adjustment module; among them:

[0006] The installation data acquisition module: synchronously acquires three-dimensional coordinate data, inclination data, and environmental parameters of photovoltaic components through distributed measurement terminals;

[0007] The positioning and calibration module: receives the three-dimensional coordinate data and inclination data collected by the installation data acquisition module, constructs a component space topology network based on an improved Delaunay triangulation algorithm, and generates initial calibration parameters in combination with a preset inclination threshold;

[0008] Environmental compensation module: Receives the environmental parameters collected by the installation data acquisition module and establishes a thermal expansion-wind load coupling model, which is used to output an environmental compensation coefficient to correct the initial calibration parameters;

[0009] Installation error analysis module: Used to perform point cloud matching between the corrected calibration parameters and the BIM design reference model, and calculate the three-dimensional coordinate deviation and inclination deviation of each component;

[0010] Dynamic adjustment module: Used to generate multi-degree-of-freedom robotic arm control instructions based on the three-dimensional coordinate deviation and inclination deviation, so as to drive the adjustment mechanism to perform pose adjustment.

[0011] Optionally, the distributed measurement terminal includes a laser ranging unit, a MEMS gyroscope array, and a temperature and humidity sensor; wherein:

[0012] Laser ranging unit: Calculates the distance between the photovoltaic module and the ranging unit based on the principle of laser pulse emission and reception. By measuring the time difference between the laser pulse emission and reception, and combining the speed of light to calculate the distance, the three-dimensional coordinate data of the photovoltaic module is obtained through multiple measurements, and the error range does not exceed ±0.5 mm;

[0013] MEMS gyroscope array: Used to measure the tilt angle of the photovoltaic module in real time. The MEMS gyroscope array uses the principle of microelectromechanical systems to calculate the angle deviation of the photovoltaic module relative to the reference plane by using the Coriolis force generated by the rotating mass in the sensor when the rotation angle changes. The output signal of the gyroscope is the angular velocity, and the inclination data of the module is obtained after integration, and the error range is controlled within ±0.1 degrees;

[0014] Temperature and humidity sensor: Used to measure the temperature and humidity of the environment where the photovoltaic module is located, and outputs environmental data in real time by detecting the changes in temperature and humidity in the environment.

[0015] Optionally, the positioning and calibration module includes a triangulation construction unit, an inclination threshold comparison unit, and an initial parameter generation unit; wherein:

[0016] Triangulation construction unit: Based on the three-dimensional coordinate data provided by the installation data acquisition module, constructs the spatial topology network of the photovoltaic module through an improved Delaunay triangulation algorithm. After receiving the coordinate point set of the photovoltaic module, a topology structure is built in the form of non-overlapping triangular units that cover all coordinate points;

[0017] Inclination threshold comparison unit: Receives the inclination data of the photovoltaic module provided by the installation data acquisition module and compares it with a preset inclination threshold, which is used to determine whether the module meets the installation accuracy requirements and records the location of the module where the inclination exceeds the threshold;

[0018] Initial parameter generation unit: Based on the spatial topology data of the triangulation construction unit and the inclination deviation information of the inclination angle threshold comparison unit, combined with the weighted average and weighted interpolation algorithms, generate initial calibration parameters.

[0019] Optionally, the triangulation construction unit includes:

[0020] Preprocess the collected three-dimensional coordinate data, arrange each data point in the order of the coordinates of the data points, and eliminate duplicate and abnormal data;

[0021] Use the improved Delaunay triangulation algorithm to construct a preliminary topological network for the preprocessed coordinate data, and calculate the circumradius of any triangle ABC , the formula is: , where represents the side length formed by data point A and data point B; represents the data point and data point constitute the side length; represents the data point and data point A constitute the side length; represents triangle 's area;

[0022] Use Heron's formula to calculate the area of triangle 's area , the formula is:

[0023] , where represents the semi-perimeter of triangle ABC; and respectively represent the side lengths of the triangle;

[0024] For each candidate triangle ABC, calculate its circumcenter , and for any data point except those that form triangle ABC, calculate the point and the Euclidean distance between the center , the formula is: , where represents the Euclidean distance between the data point and the center ; respectively represent the coordinates of the data point in the three-dimensional coordinate system; respectively represent the coordinates of the center in the three-dimensional coordinate system; The candidate triangle ABC is only retained when all data points satisfy ;

[0025] For each triangle that meets the retention conditions , calculate the average deviation of its three interior angles from the ideal angle of 60 degrees , and the formula is: , where and respectively represent the three interior angles of triangle ABC; is the ideal interior angle value; is the average absolute value of the deviations of the three interior angles;

[0026] Finally, according to the criterion of minimizing the expression , determine the basic unit that constitutes the topological network, where represents the comprehensive metric value for selecting the best triangle, represents a preset constant.

[0027] Optionally, the tilt angle threshold comparison unit includes:

[0028] Obtain the tilt angle data of the photovoltaic module: Obtain the real-time tilt angle data of the photovoltaic module through the MEMS gyroscope array , where represents the tilt angle data of the th photovoltaic module, and the unit is degrees;

[0029] Set the tilt angle threshold: Preset the tilt angle threshold , which represents the allowable maximum tilt angle deviation range, and the unit is degrees;

[0030] Tilt angle comparison: Compare the tilt angle data of each photovoltaic module with the preset tilt angle threshold one by one to determine whether the accuracy requirement is met. The determination formula is: , where represents the ideal tilt angle of the photovoltaic module; if this formula holds, it means that the tilt angle of the module is within the allowable range and meets the installation accuracy requirement; otherwise, it means that the tilt angle deviation of the module exceeds the accuracy requirement;

[0031] Record the position of the module with the tilt angle exceeding the threshold: If the tilt angle data of a certain photovoltaic module exceeds the preset tilt angle threshold , then record the three-dimensional coordinates of this module as the position of the module with the tilt angle exceeding the threshold.

[0032] Optionally, the initial parameter generation unit includes:

[0033] Obtain the spatial topology data and tilt angle deviation information: Obtain the spatial topology data of the photovoltaic module from the triangulation construction unit , and obtaining the tilt angle deviation information of the photovoltaic module from the tilt angle threshold comparison unit , where is the actual tilt angle of the photovoltaic module , represents the ideal tilt angle of the photovoltaic module, is the tilt angle of the photovoltaic module deviation;

[0034] Calculate the weighted average: Perform weighted average processing on the spatial positions of all photovoltaic modules and their tilt angle deviations to generate the initial calibration parameters; the weighted average calculation formula is: ; ; , where, are the three-dimensional coordinate averages of the initial calibration parameters respectively, is the weight of each photovoltaic module, which is the reciprocal of the tilt angle deviation , that is: , where, is a small constant to prevent division by zero, represents the total number of photovoltaic modules;

[0035] Perform weighted interpolation: For the sparse distribution of three-dimensional coordinate data, use the weighted interpolation algorithm to optimize the generation of the initial calibration parameters. The weighted interpolation algorithm estimates the position of the unknown point by using the data of the surrounding neighboring components. The interpolation formula is: , where, represents the initial calibration parameters after interpolation calculation, is the three-dimensional coordinate data of the neighboring components.

[0036] Optionally, the environment compensation module includes an environment parameter receiving unit, a thermal expansion model unit, a wind load model unit, a thermal expansion - wind load coupling model unit, and a compensation coefficient output unit; where:

[0037] Environment parameter receiving unit: Used to receive the environment parameter data from the installation data acquisition module, including temperature, humidity, and wind speed;

[0038] Thermal expansion model unit: Used to calculate the thermal expansion effect of the photovoltaic module according to the temperature data. Let the thermal expansion amount of the photovoltaic module be , and its calculation formula is: , where, is the length change of the photovoltaic module, is the original length of the photovoltaic module, is the thermal expansion coefficient of the photovoltaic module material, is the temperature change amount;

[0039] Wind load model unit: Calculate the force on the photovoltaic module affected by the wind load according to the wind speed data. Let the wind load force be , and its expression is: , where is the aerodynamic drag coefficient, is the air density, is the windward area of the photovoltaic module, is the wind speed data;

[0040] Thermal expansion - wind load coupling model unit: Used to couple the thermal expansion effect of the thermal expansion model unit with the wind load force of the wind load model unit to generate a comprehensive influence model. The expression is: , where represents the environmental compensation amount, and are adjustment coefficients;

[0041] Compensation coefficient output unit: Used to output the environmental compensation coefficient according to the calculation result of the thermal expansion - wind load coupling model. The compensation coefficient is calculated by the following formula: , where represents the environmental compensation amount, is the weight of each photovoltaic module, is the total number of photovoltaic modules.

[0042] Optionally, the environmental compensation module further includes a calibration parameter correction unit and an inclination correction unit; among them:

[0043] Calibration parameter correction unit: Receive the environmental compensation coefficient and the initial calibration parameter , and apply the compensation coefficient to correct the position and inclination of the photovoltaic module to correct the calibration parameter. The formula is:

[0044] ;

[0045] ;

[0046] , where , and are the corrected photovoltaic module coordinates, are the thermal expansion correction amounts in the X, Y, and Z axis directions respectively. The calculation formula is: ; ; , where is the preliminary thermal expansion correction amount in each axis direction

[0047] Tilt correction unit: For the tilt data of the photovoltaic modules , the environmental compensation coefficient is used to correct the tilt deviation . The calculation formula for the corrected tilt is: , where is the corrected tilt, is the actual tilt, is the tilt deviation, is the environmental compensation coefficient.

[0048] Optionally, the installation error analysis module includes a data receiving unit, a BIM model registration unit, a point cloud matching unit, and an error calculation unit; where:

[0049] Data receiving unit: Used to receive the corrected calibration parameters obtained from the environmental compensation module, including the three-dimensional coordinates and tilts of each photovoltaic module; at the same time, receive the BIM design reference model data, including the three-dimensional coordinates and tilts of each photovoltaic module in the design; where represents the serial number of the photovoltaic module, represents the total number of photovoltaic modules;

[0050] BIM model registration unit: Used to register the data of the BIM design reference model with the corrected calibration parameters in the same coordinate system, and determine the rigid transformation matrix by solving the minimization problem . Its calculation formula is: , where represents the th corrected coordinate, represents the norm of the Euclidean distance; is the rigid transformation matrix composed of the rotation matrix and the displacement vector;

[0051] Point cloud matching unit: Uses the iterative closest point algorithm to match the point cloud of the corrected calibration parameters with the point cloud of the registered BIM design reference model, and determines the matching relationship of each corresponding point by minimizing the calculation of the distance function. The expression is: , where represents the corresponding point in the BIM model closest to after the rigid transformation . The matching process converges to the optimal corresponding relationship step by step through iteration;

[0052] Error calculation unit: Based on the point cloud matching result, calculate the three-dimensional coordinate deviation and the tilt deviation [[ID=and]] for each photovoltaic module

[0053] Optionally, the dynamic adjustment module includes an error data receiving unit, a control instruction generating unit, and a robotic arm driving unit; where:

[0054] The error data receiving unit: is used to receive the three-dimensional coordinate deviation amounts of each photovoltaic module from the installation error analysis module and the inclination deviation amounts ;

[0055] The control instruction generating unit: is used to establish a direct correspondence relationship between the three-dimensional coordinate deviation amounts and the inclination deviation amounts of each photovoltaic module according to the deviation data provided by the error data receiving unit and in combination with preset adjustment parameters, so as to determine the correction amounts and angle adjustment amounts of each module in each axis direction; and integrate each correction amount to form a control instruction;

[0056] The robotic arm driving unit: is used to receive the control instruction output by the control instruction generating unit and convert it into a driving signal of a multi-degree-of-freedom robotic arm to drive the adjustment mechanism to perform corresponding pose adjustment operations.

[0057] Advantages of the present invention:

[0058] In the present invention, through the collaborative work of the installation data acquisition module, the positioning and calibration module, the environmental compensation module, the installation error analysis module, and the dynamic adjustment module, high-precision installation of photovoltaic modules is achieved; the installation data acquisition module can real-time obtain the three-dimensional coordinates, inclination angles, and environmental parameters of photovoltaic modules, and construct a spatial topological network of the modules through an improved Delaunay triangulation algorithm, providing an accurate structural basis for subsequent calibration; the environmental compensation module, based on the collected environmental data, establishes a thermal expansion-wind load coupling model, calculates the environmental compensation coefficient, and applies it to the correction of calibration parameters to compensate for the component offset problems caused by temperature changes and wind loads; the installation error analysis module uses point cloud matching technology to compare the corrected calibration parameters with the BIM design reference model, accurately calculates the three-dimensional coordinate deviation amounts and inclination deviation amounts of photovoltaic modules, and provides reliable data support for subsequent dynamic adjustment.

[0059] In the present invention, by generating control instructions for a multi-degree-of-freedom robotic arm through the dynamic adjustment module and driving the adjustment mechanism to perform pose adjustment, high-precision calibration of photovoltaic modules is achieved; compared with the traditional manual measurement and adjustment methods, the system of the present invention can real-time monitor and correct component deviations during the installation process, reduce human errors, and improve the installation accuracy. Description of the Drawings

[0060] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only those of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0061] Figure 1 Schematic diagram of the real-time measurement and calibration system for the installation process of the embodiment of the present invention;

[0062] Figure 2 Schematic diagram of the positioning and calibration module of the embodiment of the present invention. Detailed implementation manners

[0063] The present invention will be described in detail below in conjunction with the drawings and specific embodiments. At the same time, it should be noted here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also adopt other alternative methods for implementation; moreover, the drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0064] It should be pointed out that in the specification, when referring to "an embodiment", "embodiment", "exemplary embodiment", "some embodiments", etc., it indicates that the described embodiment may include specific features, structures or characteristics, but not necessarily every embodiment includes such specific features, structures or characteristics. In addition, when combining an embodiment to describe a specific feature, structure or characteristic, implementing such a feature, structure or characteristic in combination with other embodiments (whether explicitly described or not) should be within the knowledge scope of those skilled in the relevant art.

[0065] Generally, the terms can be understood at least in part from their use in the context. For example, at least in part depending on the context, the term "one or more" used herein can be used to describe any feature, structure or characteristic in a singular sense, or can be used to describe a combination of features, structures or characteristics in a plural sense. In addition, the term "based on" can be understood as not necessarily intended to convey a set of exclusive factors, but rather, at least in part depending on the context, allowing for the existence of other factors that may not be explicitly described.

[0066] As Figure 1 - Figure 2 shown, the real-time measurement and calibration system for the installation process of a photovoltaic power station includes an installation data acquisition module, a positioning and calibration module, an environmental compensation module, an installation error analysis module, and a dynamic adjustment module; among them:

[0067] Installation data acquisition module: Synchronously obtain the three-dimensional coordinate data, inclination data and environmental parameters of the photovoltaic modules through distributed measurement terminals;

[0068] Positioning and calibration module: Receives the three-dimensional coordinate data and inclination data collected by the installation data acquisition module, constructs a component space topology network based on the improved Delaunay triangulation algorithm, and generates initial calibration parameters in combination with a preset inclination threshold;

[0069] Environmental compensation module: Receives the environmental parameters collected by the installation data acquisition module and establishes a thermal expansion-wind load coupling model for outputting environmental compensation coefficients to correct the initial calibration parameters;

[0070] Installation error analysis module: Used to perform point cloud matching between the corrected calibration parameters and the BIM design reference model, and calculate the three-dimensional coordinate deviation and inclination deviation of each component;

[0071] Dynamic adjustment module: Used to generate multi-degree-of-freedom robotic arm control instructions based on the three-dimensional coordinate deviation and inclination deviation to drive the adjustment mechanism to perform pose adjustment.

[0072] The distributed measurement terminal includes a laser ranging unit, a MEMS gyroscope array, and a temperature and humidity sensor; among them:

[0073] Laser ranging unit: Calculates the distance between the photovoltaic module and the ranging unit based on the principle of laser pulse emission and reception. By measuring the time difference between the laser pulse emission and reception, and combining the speed of light to calculate the distance. The specific formula is: , where is the distance between the photovoltaic module and the laser ranging unit, is the speed of light, is the time taken for the laser to be emitted and received. The three-dimensional coordinate data of the photovoltaic module is obtained through multiple measurements, and the error range does not exceed ±0.5 mm;

[0074] MEMS gyroscope array: Used to measure the tilt angle of the photovoltaic module in real time. The MEMS gyroscope array calculates the angle deviation of the photovoltaic module relative to the reference plane by using the Coriolis force generated by the rotating mass in the sensor when the rotation angle changes according to the microelectromechanical system principle. The output signal of the gyroscope is the angular velocity, and the inclination data of the component is obtained after integration. The formula is: , where is the tilt angle of the component, is the angular velocity of the gyroscope at time The angular velocity of the sensor array has high precision, and the error range is controlled within ±0.1 degrees;

[0075] Temperature and humidity sensor: used to measure the temperature and humidity of the environment where the photovoltaic modules are located. By detecting changes in temperature and humidity in the environment, it outputs environmental data in real time for calculation in the subsequent environmental compensation module. The temperature and humidity sensor converts temperature and humidity values into electrical signal output through the principles of changes in resistance, capacitance or current, with an error range controlled at ±2%. Through the efficient integration of the laser ranging unit, MEMS gyroscope array and temperature and humidity sensor, the installed data acquisition module can accurately collect the three-dimensional coordinates, inclination and environmental parameters of the photovoltaic modules. This precise measurement method provides a solid data foundation for subsequent positioning calibration, error analysis and dynamic adjustment.

[0076] The positioning calibration module includes a triangulation construction unit, a tilt threshold comparison unit, and an initial parameter generation unit; wherein:

[0077] Triangulation construction unit: Based on the three-dimensional coordinate data provided by the installation data acquisition module, the spatial topology network of the photovoltaic modules is constructed using an improved Delaunay triangulation algorithm. After receiving the coordinate point set of the photovoltaic modules, the topology structure is constructed in the form of non-overlapping triangular units that cover all coordinate points. The stability of the connection between modules is ensured by minimizing the distance from any point to the center of the circumscribed circle of the triangular unit where it is located.

[0078] Tilt threshold comparison unit: Receives the PV module tilt data provided by the installation data acquisition module and compares it with the preset tilt threshold to determine whether the module meets the installation accuracy requirements and records the location of the module with tilt exceeding the threshold to facilitate accurate positioning in subsequent calibration steps;

[0079] Initial parameter generation unit: Based on the spatial topology data of the triangulation construction unit and the inclination deviation information of the inclination threshold comparison unit, the weighted average and weighted interpolation algorithms are combined to generate initial calibration parameters to indicate the component coordinates and inclination deviations that need to be adjusted.

[0080] The triangulation building blocks include:

[0081] Preprocess the collected three-dimensional coordinate data, arrange the data points in order of their coordinates, and remove duplicate and abnormal data;

[0082] The improved Delaunay triangulation algorithm is used to construct a preliminary topological network for the preprocessed coordinate data, and the radius of the circumscribed circle of any triangle ABC is calculated. , the formula is: ,in, Represents the length of the side formed by data point A and data point B, and its value is the Euclidean distance between PV module position A and position B; Represented by data points and data points The side length formed, whose value is the position of the photovoltaic module The Euclidean distance between the position C; Indicates the side length formed by the data point And the data point A, whose value is the Euclidean distance between the position C of the photovoltaic module and the position A; Indicates the triangle 's area;

[0083] The area of the triangle is calculated using Heron's formula 's area , and the formula is:

[0084] , where, Indicates the semi-perimeter of triangle ABC, whose value is defined as ; And Respectively represent the side lengths of each side of the triangle;

[0085] For each candidate triangle ABC, calculate its circumcenter (The center is determined by known geometric formulas), and for any data point other than those forming triangle ABC Calculate the point And the center The Euclidean distance between them , and the formula is:

[0086] , where, Indicates the data point And the center The Euclidean distance between them; Respectively represent the data point 's coordinates in the three-dimensional coordinate system; Respectively represent the center 's coordinates in the three-dimensional coordinate system; Is the calculated circumradius; The candidate triangle ABC is only retained when it satisfies for all data points All satisfy ;

[0087] For each triangle that meets the retention conditions , calculate the average deviation of its three interior angles from the ideal angle of 60 degrees , and the formula is: , where, And Respectively represent the three interior angles of triangle ABC; Is the ideal interior angle value; Is the average absolute value of the three interior angle deviations;

[0088] Finally, minimize the expression according to the criterion Determine the basic units that make up the topological network, where represents the comprehensive metric value used to select the best triangle, represents a preset constant, whose value is a fixed constant and is used to adjust the weight of the angular deviation in the comprehensive metric; Through the above steps, the triangulation construction unit constructs the spatial topological network of the photovoltaic module using a clear and precise calculation method, providing a structurally stable and uniquely calculated data basis for the positioning and calibration module.

[0089] The inclination threshold comparison unit includes:

[0090] Obtain the inclination data of the photovoltaic module: Obtain the real-time inclination data of the photovoltaic module through the MEMS gyroscope array where represents the inclination data of the th photovoltaic module, with the unit of degree;

[0091] Set the inclination threshold: Preset the inclination threshold , which represents the allowable maximum inclination deviation range, with the unit of degree. This threshold is determined by the installation accuracy requirements and is usually a fixed value, such as ;

[0092] Inclination comparison: Compare the inclination data of each photovoltaic module with the preset inclination threshold one by one to determine whether the accuracy requirements are met. The determination formula is: where represents the ideal inclination of the photovoltaic module, usually a preset reference value, such as the horizontal plane or the design value; If this formula holds, it means that the inclination of the module is within the allowable range and meets the installation accuracy requirements; Otherwise, it means that the inclination deviation of the module exceeds the accuracy requirements;

[0093] Record the position of the module with inclination exceeding the threshold: If the inclination data 0 of a certain photovoltaic module exceeds the preset inclination threshold , then record the three-dimensional coordinates of this module as the position of the module with inclination exceeding the threshold. This position data will be used for subsequent initial parameter generation and calibration adjustment; Through the above steps, the inclination threshold comparison unit can accurately determine whether the inclination of each photovoltaic module meets the accuracy requirements and accurately record the position of the module with inclination exceeding the threshold, which provides reliable basic data for subsequent calibration and adjustment.

[0094] The initial parameter generation unit includes:

[0095] Obtain the spatial topological data and inclination deviation information: Obtain the spatial topological data of the photovoltaic module from the triangulation construction unit , and obtaining the inclination deviation information of the photovoltaic module from the inclination angle threshold comparison unit , where is the actual inclination angle of the photovoltaic module , represents the ideal inclination angle of the photovoltaic module, is the inclination deviation of the photovoltaic module ;

[0096] Calculate the weighted average: Perform weighted average processing on the spatial positions of all photovoltaic modules and their inclination deviations to generate the initial calibration parameters; the weighted average calculation formula is: ; ; , where, are the average values of the three-dimensional coordinates of the initial calibration parameters respectively, is the weight of each photovoltaic module, which is the reciprocal of the inclination deviation , that is: , where, is a small constant to prevent division by zero error, represents the total number of photovoltaic modules;

[0097] Perform weighted interpolation: For the sparse distribution of three-dimensional coordinate data, use the weighted interpolation algorithm to optimize the generation of the initial calibration parameters. The weighted interpolation algorithm estimates the position of the unknown point by using the data of the surrounding neighborhood components. The interpolation formula is: , where, represents the initial calibration parameters after interpolation calculation, are the three-dimensional coordinate data of the neighborhood components. Through this method, the component position can be smoothly adjusted in the case of uneven spatial topology; by combining the weighted average and weighted interpolation algorithms, the initial parameter generation unit can smoothly process the inclination deviation of the photovoltaic module while ensuring the accuracy of the spatial topology data, thereby providing reliable data support for subsequent precise adjustment and ensuring that the installation accuracy of the photovoltaic module meets the preset requirements.

[0098] The environment compensation module includes an environment parameter receiving unit, a thermal expansion model unit, a wind load model unit, a thermal expansion - wind load coupling model unit, and a compensation coefficient output unit; among them:

[0099] Environment parameter receiving unit: Used to receive the environment parameter data from the installation data acquisition module, including temperature, humidity, and wind speed;

[0100] Thermal expansion model unit: Used to calculate the thermal expansion effect of the photovoltaic module according to the temperature data. Let the thermal expansion amount of the photovoltaic module be , and its calculation formula is: , where, is the length change of the photovoltaic module, is the original length of the photovoltaic module, is the coefficient of thermal expansion of the photovoltaic module material, is the temperature change, is the actual temperature, is the reference temperature;

[0101] Wind load model unit: Calculates the force on the photovoltaic module affected by the wind load according to the wind speed data. Let the wind load force be , and its expression is: , where is the aerodynamic drag coefficient, is the air density, is the windward area of the photovoltaic module, is the wind speed data;

[0102] Thermal expansion - wind load coupling model unit: Used to couple the thermal expansion effect of the thermal expansion model unit with the wind load force of the wind load model unit to generate a comprehensive influence model, which is used to quantify the influence of environmental factors on the installation accuracy of the photovoltaic module. The expression is: , where represents the environmental compensation amount, and are adjustment coefficients, representing the contribution ratios of thermal expansion and wind load to calibration respectively;

[0103] Compensation coefficient output unit: Used to output the environmental compensation coefficient according to the calculation result of the thermal expansion - wind load coupling model. This coefficient is used to correct the initial calibration parameters. The compensation coefficient is calculated by the following formula: , where represents the environmental compensation amount, is the weight of each photovoltaic module, is the total number of photovoltaic modules; Through the above units, the environmental compensation module can accurately establish a thermal expansion - wind load coupling model according to environmental parameters (such as temperature, humidity and wind speed) and calculate the environmental compensation coefficient, which can effectively correct the initial calibration parameters.

[0104] The environmental compensation module also includes a calibration parameter correction unit and an inclination correction unit; among them:

[0105] Calibration parameter correction unit: Receives the environmental compensation coefficient and the initial calibration parameters , and applies the compensation coefficient to correct the position and inclination of the photovoltaic module to correct the calibration parameters. The formula is:

[0106] ;

[0107] ;

[0108] , where 、 and are the coordinates of the corrected photovoltaic module, are the thermal expansion correction amounts in the X, Y, and Z axis directions respectively, and the calculation formula is: ; ; , where is the preliminary thermal expansion correction amount in each axis direction

[0109] Inclination correction unit: For the inclination data of the photovoltaic module , the environmental compensation coefficient is used to correct the inclination deviation , and the calculation formula for the corrected inclination is: , where is the corrected inclination, is the actual inclination, is the inclination deviation, is the environmental compensation coefficient; Through the above calibration parameter correction unit, the environmental compensation coefficient can be accurately applied to the coordinates and inclination data of the photovoltaic module, further correcting the initial calibration parameters and compensating for errors caused by environmental factors (such as temperature and wind speed changes). This compensation process makes the installation position and angle of the photovoltaic module more accurate.

[0110] The installation error analysis module includes a data receiving unit, a BIM model registration unit, a point cloud matching unit, and an error calculation unit; where:

[0111] Data receiving unit: Used to receive the corrected calibration parameters obtained from the environmental compensation module, including the three-dimensional coordinates and inclination of each photovoltaic module; At the same time, receive BIM design reference model data, including the three-dimensional coordinates and inclination of each photovoltaic module in the design; where represents the serial number of the photovoltaic module, represents the total number of photovoltaic modules;

[0112] BIM model registration unit: Used to register the data of the BIM design reference model and the corrected calibration parameters in the same coordinate system, and determine the rigid transformation matrix by solving the minimization problem, and its calculation formula is: , where represents the A corrected coordinate, representing the norm of the Euclidean distance; is a rigid transformation matrix composed of a rotation matrix and a displacement vector, and its function is to transform the coordinates of each photovoltaic module in the BIM model to the coordinate system consistent with the calibration parameters ;

[0113] Point cloud matching unit: The iterative closest point algorithm is used to match the corrected calibration parameter point cloud with the registered BIM design reference model point cloud. The matching relationship of each corresponding point is determined by minimizing the distance function. The expression is: , where represents the corresponding point in the BIM model closest to after the rigid transformation . The matching process gradually converges to the optimal corresponding relationship through iteration;

[0114] Error calculation unit: Based on the point cloud matching result, calculate the three-dimensional coordinate deviation and the inclination deviation for each photovoltaic module;

[0115] The three-dimensional coordinate deviation is calculated using the following formula:

[0116] , where , and are the coordinate values of the photovoltaic module in the corrected calibration parameters respectively, , and are the coordinate values of the photovoltaic module in the registered BIM model respectively;

[0117] The inclination deviation is calculated using the following formula: , where is the actual inclination angle of the photovoltaic module after correction, is the designed inclination angle of the photovoltaic module in the BIM design reference model; Through the coordinated action of the data receiving unit, the BIM model registration unit, the point cloud matching unit and the error calculation unit, the installation error analysis module can accurately perform point cloud matching between the corrected calibration parameters and the BIM design reference model, and accurately calculate the three-dimensional coordinate deviation and inclination deviation of each photovoltaic module, so as to provide reliable and clear error information for subsequent adjustment.

[0118] The dynamic adjustment module includes an error data receiving unit, a control instruction generation unit and a robotic arm driving unit; among them:

[0119] Error data receiving unit: used to receive the three-dimensional coordinate deviation amounts of each photovoltaic module from the installation error analysis module and the tilt deviation amount ; where including respectively represent the coordinate deviations of the photovoltaic module in the X, Y, and Z axis directions, represents the tilt deviation of the photovoltaic module ;

[0120] Control instruction generation unit: used to establish a direct correspondence relationship between the three-dimensional coordinate deviation amounts and the tilt deviation amounts of each photovoltaic module according to the deviation data provided by the error data receiving unit and in combination with preset adjustment parameters, so as to determine the correction amounts and angle adjustment amounts of each component in each axis direction. Let the preset adjustment parameters be and , then the displacement correction amounts of each photovoltaic module in the axis direction are respectively determined by the following formulas: ; ; , where and respectively represent the correction amounts of the photovoltaic module in the X, Y, and Z axis directions; at the same time, the tilt correction amount of the component is determined by the following formula: , where represents the angle adjustment amount of the photovoltaic module ; and integrate each correction amount to form a control instruction , this instruction accurately reflects the adjustment requirements of the photovoltaic module in terms of displacement and rotation;

[0121] Robotic arm drive unit: used to receive the control instruction output by the control instruction generation unit , and convert it into a drive signal for a multi-degree-of-freedom robotic arm to drive the adjustment mechanism to perform corresponding pose adjustment operations, so as to achieve precise correction of the position and tilt of each photovoltaic module; through the collaborative work of the error data receiving unit, the control instruction generation unit, and the robotic arm drive unit, the dynamic adjustment module can generate corresponding control instructions based on the accurately calculated three-dimensional coordinate and tilt deviation data, and drive the multi-degree-of-freedom robotic arm to perform precise pose adjustment, so as to ensure that the positioning and adjustment during the installation of the photovoltaic module meet the preset accuracy requirements.

[0122] The present invention encompasses any alternatives, modifications, equivalent methods, and solutions made within the spirit and scope of the present invention. To enable the public to have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention. However, those skilled in the art can fully understand the present invention even without the description of these details. Additionally, well-known methods, processes, procedures, components, and circuits are not described in detail to avoid unnecessary confusion to the essence of the present invention.

[0123] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements can be made without departing from the principle of the present invention, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A real-time measurement and calibration system for the installation process of a photovoltaic power station, characterized in that, It includes an installation data acquisition module, a positioning and calibration module, an environmental compensation module, an installation error analysis module, and a dynamic adjustment module; among which: Installation data acquisition module: Synchronously obtain the three-dimensional coordinate data, inclination angle data, and environmental parameters of the photovoltaic modules through distributed measurement terminals; Positioning and calibration module: Receive the three-dimensional coordinate data and inclination angle data collected by the installation data acquisition module, construct a component space topology network based on the improved Delaunay triangulation algorithm, and generate initial calibration parameters in combination with a preset inclination angle threshold; Environmental compensation module: Receive the environmental parameters collected by the installation data acquisition module and establish a thermal expansion-wind load coupling model to output an environmental compensation coefficient to correct the initial calibration parameters; The environmental compensation module includes an environmental parameter receiving unit, a thermal expansion model unit, a wind load model unit, a thermal expansion-wind load coupling model unit, and a compensation coefficient output unit; among which: Environmental parameter receiving unit: Used to receive environmental parameter data from the installation data acquisition module, including temperature, humidity, and wind speed; Thermal expansion model unit: used to calculate the thermal expansion effect of a photovoltaic module based on temperature data. Let the thermal expansion amount of the photovoltaic module be . Its calculation formula is: , where is the length change of the photovoltaic module, is the original length of the photovoltaic module, is the thermal expansion coefficient of the photovoltaic module material, is the temperature change amount; Wind load model unit: Calculate the force on the photovoltaic module affected by the wind load according to the wind speed data. Let the wind load force be , and its expression is: , where is the aerodynamic drag coefficient, is the air density, is the windward area of the photovoltaic module, is the wind speed data; Thermal expansion - wind load coupling model unit: used to couple the thermal expansion effect of the thermal expansion model unit with the wind load force of the wind load model unit to generate a comprehensive influence model, and the expression is: , where represents the environmental compensation amount, and are adjustment coefficients; Compensation factor output unit: used to output the environmental compensation factor according to the calculation results of the thermal expansion-wind load coupling model , the compensation factor is calculated by the following formula: , where represents the environmental compensation amount, is the weight of each photovoltaic module, is the total number of photovoltaic modules; Installation error analysis module: Used to perform point cloud matching between the corrected calibration parameters and the BIM design benchmark model, and calculate the three-dimensional coordinate deviation and inclination angle deviation of each component; Dynamic adjustment module: Used to generate multi-degree-of-freedom robotic arm control instructions based on the three-dimensional coordinate deviation and inclination angle deviation to drive the adjustment mechanism to perform pose adjustment.

2. The real-time measurement and calibration system for the installation process of a photovoltaic power station according to claim 1, characterized in that, The distributed measurement terminal includes a laser ranging unit, a MEMS gyroscope array, and a temperature and humidity sensor; among which: Laser ranging unit: Calculate the distance between the photovoltaic module and the ranging unit based on the principle of laser pulse emission and reception. Measure the time difference between the laser pulse emission and reception, and calculate the distance in combination with the speed of light. Obtain the three-dimensional coordinate data of the photovoltaic module through multiple measurements, with an error range not exceeding ±0.5 mm; MEMS gyroscope array: Used to measure the tilt angle of the photovoltaic module in real time. The MEMS gyroscope array calculates the angle deviation of the photovoltaic module relative to the reference plane by using the Coriolis force generated by the rotating mass in the sensor when the rotation angle changes according to the microelectromechanical system principle. The output signal of the gyroscope is the angular velocity, and the inclination angle data of the component is obtained after integration, with the error range controlled within ±0.1 degrees; Temperature and humidity sensor: Used to measure the temperature and humidity of the environment where the photovoltaic module is located, and output environmental data in real time by detecting the changes in temperature and humidity in the environment.

3. The real-time measurement and calibration system for the installation process of a photovoltaic power station according to claim 1, characterized in that, The positioning and calibration module includes a triangulation construction unit, an inclination angle threshold comparison unit, and an initial parameter generation unit; among which: Triangulation construction unit: Based on the three-dimensional coordinate data provided by the installation data acquisition module, construct a space topology network of the photovoltaic module through the improved Delaunay triangulation algorithm. After receiving the coordinate point set of the photovoltaic module, build a topology structure in the form of non-overlapping triangular units that cover all coordinate points; Inclination angle threshold comparison unit: Receive the inclination angle data of the photovoltaic module provided by the installation data acquisition module and compare it with the preset inclination angle threshold to determine whether the component meets the installation accuracy requirements, and record the position of the component where the inclination angle exceeds the threshold; Initial parameter generation unit: Based on the spatial topology data of the triangulation construction unit and the inclination deviation information of the inclination threshold comparison unit, the initial calibration parameters are generated by combining the weighted average and weighted interpolation algorithms.

4. The real-time measurement and calibration system for the photovoltaic power station installation process according to claim 3, wherein, The triangulation construction unit includes: Preprocess the collected three-dimensional coordinate data, arrange the data points in order of their coordinates, and remove duplicate and abnormal data; Construct a preliminary topological network for the preprocessed coordinate data using an improved Delaunay triangulation algorithm, and calculate the circumradius of any triangle ABC , the formula is: , where represents the side length formed by data points A and B; represents the data point and data point constitute the side length; represents the side length formed by data point and data point A; represents triangle 's area; Calculate the area of a triangle using Heron's formula is , and the formula is: , where represents the semi-perimeter of triangle ABC; and represent the side lengths of the triangle respectively; For each candidate triangle ABC, calculate the center of its circumscribed circle , and for any data point other than those forming triangle ABC calculate the Euclidean distance between point and the center of the circle , with the formula: , where represents the Euclidean distance between data point and the center of the circle ; represent the coordinates of data point in the three-dimensional coordinate system respectively; represent the coordinates of the center of the circle in the three-dimensional coordinate system respectively; The candidate triangle ABC is retained only when for all data points the condition is satisfied ; For each triangle that meets the retention criteria , calculate the average deviation of its three interior angles from the ideal angle of 60 degrees , and the formula is: , where and respectively represent the three interior angles of triangle ABC; is the ideal interior angle value; is the average absolute value of the deviations of the three interior angles Finally, minimize the expression according to the criterion , and determine the basic unit that constitutes the topological network, where represents the comprehensive metric value for selecting the best triangle, represents a preset constant.

5. The real-time measurement and calibration system for the installation process of a photovoltaic power station according to claim 4, characterized in that The tilt angle threshold comparison unit includes: Obtain the inclination angle data of the photovoltaic module: Obtain the real-time inclination angle data of the photovoltaic module through the MEMS gyroscope array , where represents the inclination angle data of the th photovoltaic module, with the unit of degree; Set the inclination threshold: Preset the inclination threshold , representing the maximum allowable inclination deviation range, with the unit of degree; Tilt angle comparison: For the tilt angle data of each photovoltaic module is compared one by one with the preset tilt angle threshold to determine whether the accuracy requirement is met. The determination formula is: , where represents the ideal tilt angle of the photovoltaic module; if the formula holds, it means that the tilt angle of the module is within the allowable range and meets the installation accuracy requirement; otherwise, it means that the tilt angle deviation of the module exceeds the accuracy requirement; Record the position of the component with the inclination angle exceeding the threshold: If the inclination angle data of a certain photovoltaic component exceeds the preset inclination angle threshold , record the three-dimensional coordinates of this component as the position of the component with the inclination angle exceeding the threshold.

6. The real-time measurement and calibration system for the photovoltaic power station installation process according to claim 5, characterized in that The initial parameter generation unit includes: Obtain spatial topology data and tilt angle deviation information: Obtain the spatial topology data of the photovoltaic module from the triangulation construction unit , and obtain the tilt angle deviation information of the photovoltaic module from the tilt angle threshold comparison unit , where is the actual tilt angle of the photovoltaic module , represents the ideal tilt angle of the photovoltaic module is the tilt angle deviation of the photovoltaic module ; Calculate the weighted average: For the spatial positions of all photovoltaic modules and their tilt angle deviations perform weighted average processing to generate the initial calibration parameters; the weighted average calculation formula is: ; ; , where are the average values of the three-dimensional coordinates of the initial calibration parameters respectively, is the weight of each photovoltaic module, which is the reciprocal of the tilt angle deviation , that is: , where is a small constant to prevent division by zero errors, represents the total number of photovoltaic modules; Perform weighted interpolation: For the sparse distribution of three-dimensional coordinate data, a weighted interpolation algorithm is used to optimize the generation of the initial calibration parameters. The weighted interpolation algorithm estimates the position of the unknown point by using the data of the surrounding neighborhood components. The interpolation formula is: , where represents the initial calibration parameters after interpolation calculation, is the three-dimensional coordinate data of the neighborhood components.

7. The real-time measurement and calibration system for the installation process of a photovoltaic power station according to claim 1, wherein, The environmental compensation module further includes a calibration parameter correction unit and a tilt correction unit; wherein: Calibration parameter correction unit: receives the environmental compensation coefficient and the initial calibration parameters , and applies the compensation coefficient to correct the position and inclination of the photovoltaic module to correct the calibration parameters. The formula is: ； ； , where , and are the coordinates of the corrected photovoltaic module, are the thermal expansion correction amounts in the X, Y, and Z axis directions respectively, and the calculation formula is: ; ; , where is the preliminary thermal expansion correction amount in each axis direction; Tilt correction unit: For the tilt data of photovoltaic modules , the environmental compensation coefficient is used to correct the tilt deviation . The calculation formula for the corrected tilt is: , where is the corrected tilt, is the actual tilt, is the tilt deviation, is the environmental compensation coefficient.

8. The real-time measurement and calibration system for the installation process of a photovoltaic power station according to claim 1, characterized in that, The installation error analysis module includes a data receiving unit, a BIM model registration unit, a point cloud matching unit, and an error calculation unit; wherein: Data receiving unit: It is used to receive the corrected calibration parameters obtained from the environmental compensation module, including the three-dimensional coordinates and inclination angles of each photovoltaic module; at the same time, it receives the BIM design reference model data, including the three-dimensional coordinates of each photovoltaic module in the design and inclination angles ; among them, represents the serial number of the photovoltaic module, represents the total number of photovoltaic modules; BIM model registration unit: used to register the data of the BIM design reference model and the corrected calibration parameters in the same coordinate system, and determine the rigid transformation matrix by solving the minimization problem , and its calculation formula is: , where represents the th corrected coordinate, represents the norm of the Euclidean distance; is the rigid transformation matrix composed of the rotation matrix and the displacement vector; Point cloud matching unit: The Iterative Closest Point (ICP) algorithm is used to match the corrected calibrated parameter point cloud with the registered BIM design reference model point cloud. The matching relationship of each corresponding point is determined by minimizing the distance function, and the expression is: , where represents the corresponding point in the BIM model closest to after the rigid transformation . The matching process gradually converges to the optimal corresponding relationship through iteration; Error calculation unit: Based on the point cloud matching result, calculate the three-dimensional coordinate deviation and tilt angle deviation for each photovoltaic module. and tilt angle deviation .

9. The real-time measurement and calibration system for the installation process of a photovoltaic power station according to claim 8, characterized in that The dynamic adjustment module includes an error data receiving unit, a control instruction generating unit and a robotic arm driving unit; wherein: Error data receiving unit: used to receive the three-dimensional coordinate deviation amounts of each photovoltaic module from the installation error analysis module and the inclination deviation amount ; The control instruction generating unit is used to establish a direct correspondence between the three-dimensional coordinate deviation and the tilt angle deviation of each photovoltaic module based on the deviation data provided by the error data receiving unit and in combination with preset adjustment parameters, thereby determining the correction amount and angle adjustment amount of each module in each axis direction; and integrating the various correction amounts to form a control instruction; Robotic arm drive unit: used to receive the control instructions output by the control instruction generation unit and convert them into drive signals for the multi-degree-of-freedom robotic arm to drive the adjustment mechanism to perform corresponding posture adjustment operations.

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