Solar panel installation design supervision method and device

Abstract

The invention belongs to the technical field of photovoltaic equipment installation, and discloses a solar panel installation design supervision method and device, and the method comprises the steps: obtaining the position information of a plurality of visual supervision position points and a shot dynamic image; determining shooting parameters of the visual supervision position point according to the position information; processing the dynamic image of the visual supervision position point according to the shooting parameters to obtain a target image; determining an actual installation coordinate and an actual installation attitude angle of the solar panel according to each target image; calculating installation deviation information based on the actual installation coordinate and the actual installation attitude angle; and mechanical arm control information is generated according to the installation deviation information and sent to the mechanical arm. The installation automation level of the solar panel can be improved, the installation efficiency is remarkably improved, and a powerful guarantee is provided for stable operation of the solar panel.

Description

Technical Field

[0001] This application relates to the technical field of photovoltaic equipment installation, and particularly to a method and device for supervising the installation design of solar panels. Background Art

[0002] As a key industry, the green energy industry plays an important role in both social production and life. As a green power generation device, solar panels have been widely applied to all aspects of production and life. Solar panels are characterized by flexible and convenient installation and strong adaptability to different scenarios, and can be applied to large-scale photovoltaic power generation fields and small-scale household scenarios, effectively improving the application scope of photovoltaic power generation. However, most of the existing solar panel installation processes are manual operations. However, factors such as the sunlight intensity at the installation location of the solar panel and the impact of buildings on the power generation efficiency of the solar panel need to be precisely calculated during the installation process to achieve the best utilization rate of the solar panel. Manual operations cannot accurately control the installation angle, so the solar panel cannot be installed in the best position, reducing the installation accuracy and utilization rate of the solar panel. Summary of the Invention

[0003] This application provides a method and device for supervising the installation design of solar panels, which can improve the automation level of solar panel installation, significantly improve the installation efficiency, and provide a strong guarantee for the stable operation of solar panels.

[0004] In a first aspect, an embodiment of this application provides a method for supervising the installation design of solar panels, and the method includes:

[0005] Obtain the position information and captured dynamic images of multiple visual supervision position points;

[0006] Determine the shooting parameters of the visual supervision position points according to the position information;

[0007] Process the dynamic images of the visual supervision position points according to the shooting parameters to obtain target images;

[0008] Determine the actual installation coordinates and actual installation attitude angles of the solar panels according to each target image;

[0009] Calculate the installation deviation information based on the actual installation coordinates and actual installation attitude angles;

[0010] Generate robotic arm control information according to the installation deviation information and send it to the robotic arm.

[0011] Further, the method further includes:

[0012] Collect the dynamic sunlight data of each working surface of the target house;

[0013] Determine the installation planning information of the target house based on the dynamic sunlight data;

[0014] Determine the position information of each visual supervision position point based on the installation planning information.

[0015] Furthermore, the installation planning information includes the planned installation area, planned installation position, and planned installation angle of the solar panel;

[0016] Each visual supervision position point is evenly distributed on the boundary of the planned installation area.

[0017] Furthermore, the shooting parameters include the shooting focal length and the shooting field of view angle range.

[0018] Furthermore, calculating the installation deviation information based on the actual installation coordinates and the actual installation attitude angle further includes:

[0019] Calculate the coordinate difference between the actual installation coordinates and the planned installation position;

[0020] Calculate the angle difference between the actual installation attitude angle and the planned installation angle;

[0021] Take the coordinate difference and the angle difference as the installation deviation information.

[0022] Furthermore, the method further includes:

[0023] After sending the robotic arm control information, monitor the action response duration of each installation action executed by the robotic arm;

[0024] Judge whether the action response duration exceeds the preset duration threshold of the installation action;

[0025] If so, retrieve the historical operation record of the robotic arm;

[0026] Retrieve the historical response durations of all installation actions according to the historical operation record;

[0027] Calculate the response duration evaluation coefficient according to the historical response durations of each installation action;

[0028] Judge whether the response duration evaluation coefficient is lower than the preset evaluation coefficient threshold;

[0029] If so, determine that there is an abnormality in the action operation of the robotic arm and perform an abnormal alarm.

[0030] Furthermore, calculating the response duration evaluation coefficient according to the historical response durations of each installation action includes:

[0031] The response duration evaluation coefficient is obtained through the following formula:

[0032]

[0033] where E represents the response duration evaluation coefficient; E0 It represents the preset coefficient reference value; Ty represents the preset evaluation coefficient threshold; Tmax represents the maximum value of the historical response durations of all installation operations; Tmin represents the minimum value of the historical response durations of all installation operations; n represents the number of installation operations retrieved from the historical operation records; K represents the adjustment coefficient;

[0034] The adjustment coefficient is obtained through the following formula:

[0035]

[0036] Among them, K represents the adjustment coefficient; Ty represents the preset evaluation coefficient threshold; Ti represents the historical response duration corresponding to the i-th installation operation; Tz represents the median value of the historical response durations corresponding to n installation operations; Tp represents the average value of the historical response durations corresponding to n installation operations; Tb represents the standard deviation of the historical response durations corresponding to n installation operations.

[0037] In a second aspect, an embodiment of the present application provides a solar panel installation design supervision device, which includes:

[0038] A data acquisition module, configured to acquire the position information and captured dynamic images of multiple visual supervision position points;

[0039] A parameter determination module, configured to determine the shooting parameters of the visual supervision position points according to the position information;

[0040] A processing module, configured to process the dynamic images of the visual supervision position points according to the shooting parameters to obtain target images;

[0041] A calculation module, configured to determine the actual installation coordinates and actual installation attitude angles of the solar panels according to each target image;

[0042] A deviation module, configured to calculate installation deviation information based on the actual installation coordinates and actual installation attitude angles;

[0043] A control module, configured to generate robotic arm control information according to the installation deviation information and send it to the robotic arm.

[0044] In a third aspect, an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it performs the steps of a solar panel installation design supervision method according to any one of the above embodiments.

[0045] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of a solar panel installation design supervision method according to any one of the above embodiments.

[0046] In summary, compared with the prior art, the beneficial effects brought by the technical solution provided by the embodiments of the present application at least include:

[0047] A method for supervising the installation design of a solar panel provided by an embodiment of the present application processes data of multiple visual supervision position points, calculates installation deviation information and generates robotic arm control information to timely adjust the installation position of the solar panel, ensure the installation accuracy, and realize the all-round high-precision monitoring of the solar panel installation process. It not only improves the automation level of the solar panel installation, but also significantly improves the installation efficiency, providing a strong guarantee for the stable operation of the solar panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a flowchart of a method for supervising the installation design of a solar panel provided by an exemplary embodiment of the present application.

[0049] Figure 2 It is a structural diagram of a device for supervising the installation design of a solar panel provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0051] All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0052] Please refer to Figure 1 , an embodiment of the present application provides a method for supervising the installation design of a solar panel, and the method includes:

[0053] Step S1, obtaining the position information and the captured dynamic images of multiple visual supervision position points.

[0054] Step S2, determining the shooting parameters of the visual supervision position points according to the position information.

[0055] Among them, the shooting parameters include the shooting focal length and the shooting field of view range.

[0056] Specifically, based on the relative position relationship between the visual supervision position point and the solar panel installation area, the shooting focal length, the shooting field of view range and other shooting parameters for visually shooting the solar panel installation area at the visual supervision position point are determined through a preset position-shooting parameter table, so as to process the dynamic images.

[0057] Step S3, processing the dynamic images of the visual supervision position points according to the shooting parameters to obtain target images.

[0058] Step S4. Determine the actual installation coordinates and actual installation attitude angles of the solar panel according to each target image.

[0059] Specifically, by performing visual recognition on the target images of each visual supervision position point from different angles, the actual installation coordinates and actual installation attitude angles of the current solar panel can be obtained.

[0060] Step S5. Calculate the installation deviation information based on the actual installation coordinates and actual installation attitude angles.

[0061] Specifically, the calculation of the installation deviation information based on the actual installation coordinates and actual installation attitude angles includes:

[0062] Step S51. Calculate the coordinate difference between the actual installation coordinates and the planned installation position.

[0063] Step S52. Calculate the angle difference between the actual installation attitude angle and the planned installation angle.

[0064] Step S53. Use the coordinate difference and the angle difference as the installation deviation information.

[0065] Among them, the planned installation position and the planned installation angle are both in the installation planning information of the solar panel.

[0066] Specifically, in this application, the above actual installation coordinates and actual installation attitude angles are compared with the planned installation position and planned installation angle in the pre-determined solar panel installation planning information, and the installation deviation information can be obtained.

[0067] Step S6. Generate robotic arm control information according to the installation deviation information and send it to the robotic arm.

[0068] Among them, the robotic arm will adjust parameters such as the movement amplitude and orientation of the solar panel based on the installation deviation information, so that the solar panel can be accurately moved to the optimal position, improving the installation efficiency and automation level, and ensuring the power generation efficiency of the solar panel.

[0069] A solar panel installation design supervision method provided by the above embodiment, by processing data of multiple visual supervision position points, calculating installation deviation information and generating robotic arm control information, timely adjusts the installation position of the solar panel, ensures the installation accuracy, realizes all-round high-precision monitoring of the solar panel installation process, not only improves the installation automation level of the solar panel, but also significantly improves the installation efficiency, providing a strong guarantee for the stable operation of the solar panel.

[0070] In some embodiments, the method further includes:

[0071] Step S01, collect the dynamic sunlight data of each working surface of the target house.

[0072] Among them, the dynamic sunlight data includes the solar altitude angle change data and the sunlight radiation intensity change data per unit volume of space within a preset time interval. When installing solar panels on a house, the working surfaces such as the roof or balcony of the house are usually selected. However, the sunlight conditions of different types or locations of the working surfaces under the house are different at different time periods of a day, resulting in different solar altitude angles and sunlight radiation intensities of different types or locations of the working surfaces at different time periods of a day. The higher the solar altitude angle and / or the sunlight radiation intensity, the higher the power generation efficiency of the solar panels installed on the working surface.

[0073] Step S02, determine the installation planning information of the target house based on the dynamic sunlight data.

[0074] In order to find and locate in each working surface the position that can make the solar panels installed therein have a higher power generation efficiency, this application is based on the solar altitude angle change data and the sunlight radiation intensity change data per unit volume of space within a preset time interval included in the dynamic sunlight data, and conducts a time and space evolution analysis of the sunlight energy reception state of each working surface, that is, for each position area inside each working surface, such as each grid area pre-defined within each working surface, the combined evolution analysis of the corresponding solar altitude angle change situation and the sunlight radiation intensity change situation per unit volume of space with the change of time and space position coordinates within a day, to determine whether the total sunlight energy received within each working surface within a day exceeds a preset energy threshold, and take the area range that meets the preset sunlight energy reception condition as the initial installation area range.

[0075] Then collect the solar altitude angle and sunlight radiation intensity of the initial installation area range at different time periods within a day, and then calculate the sunlight energy distribution situation received by each initial installation area range within a day, that is, the energy size received per unit area, and judge whether the total sunlight energy received by a certain sub-area range within the working surface exceeds the preset energy threshold. If it exceeds, then take the above sub-area range as the planned installation area where solar panels can be installed, and further determine the planned installation position and planned installation angle of the solar panels on the basis of the planned installation area.

[0076] Next, conduct a modeling analysis of different installation positions and installation angles for solar panels of different area sizes within the planned installation area, and determine the planned installation position and planned installation angle where the solar panels of a certain area size receive the most energy. That is, the installation planning information of the solar panels includes the planned installation area, planned installation position and planned installation angle of the solar panels.

[0077] Step S04: Determine the position information of each visual supervision position point based on the installation planning information.

[0078] Specifically, several visual supervision position points are evenly set at equal intervals on the edge of the planned installation area, so that the visual supervision position points are evenly distributed on the boundary of the solar panel coverage area, facilitating full-range visual recognition of the actual installation process of the solar panels based on each visual supervision position point and adjusting the installation actions of the solar panels.

[0079] Furthermore, since the shape of the house is not regular, structural parts such as the windows or eaves of the house will block the solar panels installed on the working surface, preventing the solar panels from fully receiving solar radiation.

[0080] In order to effectively and accurately avoid the occlusion of structural parts during the installation of solar panels, a panoramic scan of the house can be taken to obtain a panoramic image of the house, and a three-dimensional spatial transformation analysis of the panoramic image can be performed to obtain the three-dimensional shape feature information of the house, so as to determine the spatial position information and shape and size information of the structural parts that will form shadows on the solar panels, and accurately identify the spatial position and shape and size of the structural parts that may form shadow occlusion on the solar panels.

[0081] Based on the shape element feature information, the shape and position change information of the shadow formed by the structural part is estimated, and the planned installation position and planned installation angle of the determined solar panel are corrected accordingly, so as to effectively avoid the shadow occlusion of the house structural components after installing the solar panels and improve the solar radiation reception efficiency of the solar panels.

[0082] The planning scheme of the above embodiment can facilitate full-range visual recognition of the actual installation process of the solar panels based on each visual supervision position point, facilitate subsequent accurate adjustment of the installation actions of the solar panels, and ensure the power generation efficiency of the solar panels.

[0083] In some embodiments, the method further includes:

[0084] Step S71: After sending the robotic arm control information, monitor the action response duration of each installation action executed by the robotic arm.

[0085] Step S72: Determine whether the action response duration exceeds the preset duration threshold of the installation action.

[0086] Step S73: If so, retrieve the historical operation record of the robotic arm.

[0087] Step S74: Retrieve the historical response durations of all installation actions according to the historical operation record.

[0088] Step S75: Calculate the response duration evaluation coefficient based on the historical response durations of each installation action.

[0089] Specifically, the response duration evaluation coefficient is obtained through the following formula:

[0090]

[0091] where E represents the response duration evaluation coefficient; E 0 represents the preset coefficient reference value; Ty represents the preset evaluation coefficient threshold; Tmax represents the maximum value of the historical response durations of all installation actions; Tmin represents the minimum value of the historical response durations of all installation actions; n represents the number of times of installation actions retrieved from the historical operation records; K represents the adjustment coefficient.

[0092] The adjustment coefficient is obtained through the following formula:

[0093]

[0094] where K represents the adjustment coefficient; Ty represents the preset evaluation coefficient threshold; Ti represents the historical response duration corresponding to the i-th installation action; Tz represents the median value of the historical response durations corresponding to n installation actions; Tp represents the average value of the historical response durations corresponding to n installation actions; Tb represents the standard deviation of the historical response durations corresponding to n installation actions.

[0095] The introduction of the response duration evaluation coefficient and the adjustment coefficient can more comprehensively evaluate the performance of the robotic arm, improving the accuracy and reliability of anomaly determination. When it is determined that there is an anomaly in the operation of the robotic arm, an anomaly alarm can be automatically triggered to remind the operator or maintenance personnel to take measures for repair in a timely manner. This intelligent anomaly alarm mechanism not only improves the automation level but also reduces production losses and safety hazards caused by robotic arm failures. By continuously monitoring and analyzing the action response durations of the robotic arm, data support can be provided for the optimization and maintenance of the robotic arm. The operator or maintenance personnel can adjust the operating parameters of the robotic arm or perform necessary maintenance according to the monitoring results, thereby extending the service life of the robotic arm and improving production efficiency.

[0096] Step S76: Determine whether the response duration evaluation coefficient is lower than the preset evaluation coefficient threshold.

[0097] Step S77: If so, determine that there is an anomaly in the operation of the robotic arm and issue an anomaly alarm.

[0098] Specifically, by real-time monitoring the action response duration of the robotic arm for each installation action, any possible action delay or anomaly can be quickly captured, thereby realizing the immediate evaluation of the performance of the robotic arm.

[0099] When it is detected that the action response duration exceeds the preset threshold, the subsequent diagnostic process can be immediately triggered, reducing the time for fault discovery and response, and improving the reliability and stability of the system.

[0100] In the above embodiment, by comparing the action response duration with the corresponding preset duration threshold and combining the historical response duration in the historical operation record, it is possible to more accurately determine whether there is an action abnormality in the robotic arm. Using quantitative indicators such as the response duration evaluation coefficient and the adjustment coefficient, the operating state of the robotic arm can be more precisely evaluated, avoiding misjudgment or missed judgment caused by a single data anomaly. By retrieving the historical operation record of the robotic arm and calculating statistics such as the maximum value, minimum value, average value, median value, and standard deviation of the action response duration, rich data support is provided for subsequent anomaly determination.

[0101] Please refer to Figure 2 , another embodiment of the present application provides a supervision device for the installation design of solar panels, and the device includes:

[0102] A data acquisition module 101, configured to acquire the position information and captured dynamic images of multiple visual supervision position points.

[0103] A parameter determination module 102, configured to determine the shooting parameters of the visual supervision position points according to the position information.

[0104] A processing module 103, configured to process the dynamic images of the visual supervision position points according to the shooting parameters to obtain target images.

[0105] A calculation module 104, configured to determine the actual installation coordinates and actual installation attitude angles of the solar panels according to each target image.

[0106] A deviation module 105, configured to calculate installation deviation information based on the actual installation coordinates and actual installation attitude angles.

[0107] A control module 106, configured to generate robotic arm control information according to the installation deviation information and send it to the robotic arm.

[0108] Furthermore, the device further includes an installation planning module, configured to perform the following steps:

[0109] Collect the dynamic sunlight data of each working surface of the target house.

[0110] Determine the installation planning information of the target house based on the dynamic sunlight data.

[0111] Determine the position information of each visual supervision position point based on the installation planning information.

[0112] Furthermore, the device further includes a robotic arm evaluation module, configured to perform the following steps:

[0113] After sending the robotic arm control information, monitor the action response duration of the robotic arm for each installation action.

[0114] Determine whether the action response duration exceeds the preset duration threshold for the installation action.

[0115] If so, retrieve the historical operation record of the robotic arm.

[0116] Retrieve the historical response durations of all installation actions based on the historical operation record.

[0117] Calculate the response duration evaluation coefficient based on the historical response durations of each installation action.

[0118] Determine whether the response duration evaluation coefficient is lower than the preset evaluation coefficient threshold.

[0119] If so, determine that there is an abnormality in the action operation of the robotic arm and perform an abnormality alarm.

[0120] The specific limitations provided in this embodiment regarding a supervision device for solar panel installation design can be referred to the embodiment of a supervision method for solar panel installation design in the above text, and will not be elaborated here. Each module in the above-mentioned supervision device for solar panel installation design can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to the above-mentioned modules.

[0121] This application embodiment provides a computer device, which may include a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the processor is caused to execute the steps of a supervision method for solar panel installation design as described in any of the above embodiments.

[0122] The working process, working details, and technical effects of the computer device provided in this embodiment can be referred to the embodiment of a supervision method for solar panel installation design in the above text, and will not be elaborated here.

[0123] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a solar panel installation design supervision method as described in any of the above embodiments are implemented. Among them, the computer-readable storage medium refers to a carrier for storing data, which may include, but is not limited to, floppy disks, optical discs, hard disks, flash memories, USB flash drives, and / or memory sticks, etc. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices. For the working process, working details, and technical effects of the computer-readable storage medium provided in this embodiment, reference may be made to the embodiments of a solar panel installation design supervision method in the foregoing text, which will not be elaborated herein.

[0124] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application may include non-volatile and / or volatile memories. Non-volatile memories may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM).

[0125] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0126] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A solar panel installation design supervision method, characterized in that: The method comprises: Obtaining location information of multiple visual monitoring locations and captured dynamic images; Determining the shooting parameters of the visual supervision position point according to the position information; Processing the dynamic image of the visual supervision position point according to the shooting parameters to obtain a target image; Determine the actual installation coordinates and actual installation attitude angles of the solar panel according to each of the target images; Calculating installation deviation information based on the actual installation coordinates and the actual installation posture angle; The robot arm control information is generated according to the installation deviation information and sent to the robot arm.

2. The solar panel installation design supervision method according to claim 1, characterized in that: Also includes: Collect dynamic sunshine data of each working surface of the target house; Determining installation planning information of the target house based on the dynamic sunshine data; The position information of each of the visual supervision location points is determined based on the installation planning information.

3. The solar panel installation design supervision method according to claim 2, characterized in that: The installation planning information includes the planned installation area, planned installation position and planned installation angle of the solar panel; The visual supervision position points are evenly distributed on the boundary of the planned installation area.

4. The solar panel installation design supervision method according to claim 1, characterized in that: The shooting parameters include shooting focal length and shooting field angle range.

5. The solar panel installation design supervision method according to claim 3 is characterized in that: The calculating of the installation deviation information based on the actual installation coordinates and the actual installation posture angle also includes: Calculating the coordinate difference between the actual installation coordinates and the planned installation position; Calculating the angle difference between the actual installation posture angle and the planned installation angle; The coordinate difference and the angle difference are used as the installation deviation information.

6. The solar panel installation design supervision method according to claim 1, characterized in that: Also includes: After sending the robot arm control information, monitoring the action response time of each installation action performed by the robot arm; Determine whether the action response time exceeds a preset time threshold of the installation action; If yes, retrieve the historical operation record of the robotic arm; Retrieving the historical response time of all installation actions according to the historical operation records; Calculate a response time evaluation coefficient according to the historical response time of each installation action; Determining whether the response time evaluation coefficient is lower than a preset evaluation coefficient threshold; If so, it is determined that there is an abnormality in the operation of the robot arm and an abnormality alarm is issued.

7. The solar panel installation design supervision method according to claim 6, characterized in that: The calculating of the response time evaluation coefficient according to the historical response time of each installation action includes: The response time evaluation coefficient is obtained by the following formula: Wherein, E represents the response time evaluation coefficient; E0 represents the preset coefficient reference value; Ty represents the preset evaluation coefficient threshold; Tmax represents the maximum value of the historical response time of all installation actions; Tmin represents the minimum value of the historical response time of all installation actions; n represents the number of executions of the installation action retrieved from the historical operation record; K represents the adjustment coefficient; The adjustment coefficient is obtained by the following formula: Among them, K represents the adjustment coefficient; Ty represents the preset evaluation coefficient threshold; Ti represents the historical response time corresponding to the i-th installation action; Tz represents the median value of the historical response time corresponding to the n-th installation action; Tp represents the average value of the historical response time corresponding to the n-th installation action; Tb represents the standard deviation of the historical response time corresponding to the n-th installation action.

8. A solar panel installation design monitoring device, characterized in that: The device comprises: A data acquisition module, used to acquire location information of multiple visual monitoring locations and captured dynamic images; A parameter determination module, used to determine the shooting parameters of the visual supervision position point according to the position information; A processing module, used for processing the dynamic image of the visual supervision position point according to the shooting parameters to obtain a target image; A calculation module, used to determine the actual installation coordinates and actual installation attitude angle of the solar panel according to each of the target images; A deviation module, used for calculating installation deviation information based on the actual installation coordinates and the actual installation posture angle; The control module is used to generate robot arm control information according to the installation deviation information and send it to the robot arm.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the solar panel installation design supervision method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the solar panel installation design supervision method as claimed in any one of claims 1 to 7 are implemented.

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