Automatic installation robot for photovoltaic module

Abstract

The invention provides a photovoltaic module automatic installation robot, which comprises a robot main body structure, a driving module, a visual identification module and a control module, and is characterized in that the robot main body structure comprises a crawler chassis and a mechanical arm; the robot main body structure is in driving connection with the driving module; the visual identification module is used for identifying the position, posture and shape features of the photovoltaic module; and the control module is in communication connection with the visual identification module and the driving module and is used for sending mechanical arm driving information and crawler chassis driving information to the driving module according to the obtained position, posture and shape characteristics of the photovoltaic module. The position, posture and shape features of the photovoltaic module to be grabbed are accurately recognized through the visual recognition module, the control module can send accurate mechanical arm driving information and crawler chassis driving information to the driving module, the robot is guided to accurately grab and lay the photovoltaic module, and the accuracy and efficiency of photovoltaic module installation are improved.

Description

Technical Field

[0001] This application relates to the technical field of photovoltaic engineering, and particularly to an automatic installation robot for photovoltaic modules. Background Art

[0002] At present, with the booming development of the new energy industry, as an important part of clean energy, the large-scale construction process of photovoltaic power generation is accelerating. A 2100-megawatt photovoltaic power generation project is located in a sandy and grassy beach area, facing special geographical environments and construction challenges, which pose higher requirements for photovoltaic module installation technologies.

[0003] Some existing patents focus on general photovoltaic module installation robots. For example, an assembly robot proposed in a patent uses a wheeled chassis to move within a photovoltaic power station along a preset track, and uses a robotic arm to grasp and install photovoltaic modules. The core of its technology lies in achieving precise positioning of the robot through track guidance, thereby improving installation efficiency. However, this wheeled track design has poor applicability under the complex and changeable terrain conditions in the sandy and grassy beach area. The terrain in this area has undulations and soft sand, making track laying difficult and easily damaged, and it is difficult to meet the actual project requirements.

[0004] A photovoltaic panel installation suction cup device and a photovoltaic panel installation method involve a vision recognition-based auxiliary system for photovoltaic module installation. It mainly uses vision recognition technology to detect the position and angle of photovoltaic modules, providing real-time data guidance for manual installation to improve installation accuracy. Although this system has certain innovations in vision recognition algorithms, it overly relies on manual operations and fails to fully utilize the advantages of automation. In the sandy and grassy beach area with frequent sandy weather, vision recognition is easily interfered by dust, resulting in many difficulties in manual installation and being unable to effectively improve the overall installation efficiency and quality.

[0005] There are also some patents focusing on the improvement of mechanized equipment for photovoltaic module installation. For example, a photovoltaic panel module laying robot has developed a large-scale vehicle-mounted photovoltaic module installation machine, which hoists photovoltaic modules to the installation position through a jib. This device has certain operation advantages in open and relatively flat terrain areas. However, in the sandy and grassy beach area, due to the large influence of sand on vehicle driving and the limited flexibility of jib operation, it is difficult to achieve precise installation in complex terrains. At the same time, the maintenance cost of the device is relatively high, which does not meet the requirements of the project for cost reduction and efficiency improvement.

[0006] When applying existing similar technologies to a photovoltaic power generation project in a sandy and grassy beach area, there are problems such as poor terrain adaptability, insufficient automation, large influence of environmental interference, and poor cost control, making it difficult to meet the large-scale, high-efficiency, and high-quality photovoltaic module installation requirements of this project, and innovative technologies are urgently needed to solve these problems. Summary of the Invention

[0007] The present application provides a photovoltaic module automatic installation robot, which can solve the problems existing in the photovoltaic module installation equipment in the prior art when applied to a photovoltaic power generation project in a certain sandy grassland area, such as poor terrain adaptability, insufficient automation, large influence of environmental interference, and poor cost control, and it is difficult to meet the large-scale, high-efficiency, and high-quality photovoltaic module installation requirements of this project.

[0008] In a first aspect, the present application provides a photovoltaic module automatic installation robot, including:

[0009] A robot main body structure, including a crawler chassis and a robotic arm;

[0010] A driving module, the robot main body structure is drivingly connected to the driving module;

[0011] A vision recognition module, which is used to recognize the position, attitude, and shape features of the photovoltaic module to be grasped;

[0012] A control module, the control module is communicatively connected to the vision recognition module and the driving module, and is used to send robotic arm driving information and crawler chassis driving information to the driving module according to the obtained position, attitude, and shape features of the photovoltaic module.

[0013] In combination with the first aspect, in an embodiment, the robotic arm is a robotic arm with multiple degrees of freedom, and an adaptive fixture is equipped at the end of the robotic arm with multiple degrees of freedom. The adaptive fixture is used to adjust the degrees of freedom in real time to grasp the photovoltaic module according to the position, attitude, and shape features of the photovoltaic module.

[0014] In combination with the first aspect, in an embodiment, the adaptive fixture includes a plurality of suction cups and clamping jaws. The suction cups are made of silicone material, and a vacuum generator is provided inside the suction cups for generating negative pressure to adsorb the photovoltaic module; the clamping jaws are driven by electric push rods.

[0015] In combination with the first aspect, in an embodiment, the adaptive fixture further includes a pressure sensor. The pressure sensor is arranged on the surface where the clamping jaw contacts the photovoltaic module, and is used to monitor the clamping force of the clamping jaw on the photovoltaic module in real time. When the clamping force exceeds the set threshold, the electric push rod automatically adjusts the telescopic position of the clamping jaw.

[0016] In combination with the first aspect, in an embodiment, it further includes a terrain perception module and a path planning module. The terrain perception module is used to perceive the terrain and landform information around the robot in real time. The path planning module is communicatively connected to the terrain perception module and is used to plan the optimal driving path for the robot to continue moving forward according to the terrain and landform information around the robot perceived in real time.

[0017] In combination with the first aspect, in one embodiment, the visual recognition module includes a target image acquisition unit and a dust-proof and sand-proof processing unit. The dust-proof and sand-proof processing unit is used to detect dust in the images acquired by the image acquisition unit. When dust interference is detected in the images, a dust detection model or algorithm is used to compensate and repair the images.

[0018] In combination with the first aspect, in one embodiment, the outer shell of the robot main body structure adopts a dust-proof structure.

[0019] In combination with the first aspect, in one embodiment, the dust-proof structure is a dust-proof filter for the air inlet and ventilation openings of the robot.

[0020] In combination with the first aspect, in one embodiment, a temperature-sensing intelligent temperature control system is further included. The temperature-sensing intelligent temperature control system includes a temperature sensor, a heat dissipation unit, and a heating unit. The temperature sensor is communicatively connected to the control module. The control module is used to control the heat dissipation unit or the heating unit to start when the acquired temperature exceeds the upper temperature threshold or the lower temperature threshold, so as to adjust the ambient temperature of the electronic control components inside the robot.

[0021] In combination with the first aspect, in one embodiment, an intelligent task scheduling and management system is further included, which is used to generate a task for laying photovoltaic modules according to the position and status of the robot and the storage location of the photovoltaic modules.

[0022] The beneficial effects brought by the technical solution provided by the embodiments of the present application at least include:

[0023] Through the visual recognition module, the position, posture, and shape features of the photovoltaic module to be grasped can be accurately recognized. Based on this information, the control module can send accurate robotic arm drive information and tracked chassis drive information to the drive module, so as to guide the robot to accurately grasp the photovoltaic module and precisely install it at a predetermined position, greatly improving the accuracy of photovoltaic module installation, reducing installation errors caused by manual operation or inaccurate positioning, and improving the installation quality and efficiency.

[0024] Through the communication connection between the control module, the visual recognition module, and the drive module, the entire process of grasping and installing the photovoltaic module is automated, and operations such as moving, grasping, and installing are autonomously completed, reducing the labor intensity of manual work and improving work efficiency. It is especially suitable for large-scale photovoltaic power station construction and can complete the installation tasks of a large number of photovoltaic modules in a short time. Description of the Drawings

[0025] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other accompanying drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 Schematic structural diagram of a photovoltaic module automatic installation robot provided by an embodiment of the present application;

[0027] Figure 2 Functional module block diagram of a photovoltaic module automatic installation robot provided by an embodiment of the present application;

[0028] Figure 3 Another functional module block diagram of a photovoltaic module automatic installation robot provided by an embodiment of the present application.

[0029] In the figure: 100, robot main body structure; 110, robotic arm; 111, adaptive fixture; 120, chassis; 200, drive module; 300, visual recognition module; 400, control module. Detailed implementation manners

[0030] In order to enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0031] In the first aspect, as Figure 1 and Figure 2As shown in the figure, the present application provides a photovoltaic module automatic installation robot, which includes a robot main body structure 100, a driving module 200, a vision recognition module 300 and a control module 400; the robot main body structure 100 includes a crawler chassis 120 and a robotic arm 110. The crawler chassis 120 adapts to various terrains in the photovoltaic module laying environment to ensure the smooth driving of the robot. The robotic arm 110 performs operations of grasping and installing photovoltaic modules; the robot main body structure 100 is drivingly connected to the driving module 200 to provide power support for the movement of the robot main body structure 100; the vision recognition module 300 is used to identify the position, attitude and shape characteristics of the photovoltaic module to be grasped; the control module 400, the control module 400 is communicatively connected to the vision recognition module 300 and the driving module 200, and is used to send driving information of the robotic arm 110 and driving information of the crawler chassis 120 to the driving module 200 according to the obtained position, attitude and shape characteristics of the photovoltaic module.

[0032] In the present application, the vision recognition module 300 accurately identifies the position, attitude and shape characteristics of the photovoltaic module to be grasped. Based on this information, the control module 400 can send accurate driving information of the robotic arm 110 and driving information of the crawler chassis 120 to the driving module 200, thereby guiding the robot to accurately grasp the photovoltaic module and precisely install it at a predetermined position, greatly improving the accuracy of photovoltaic module installation, reducing installation errors caused by manual operation or inaccurate positioning, and improving installation quality and efficiency.

[0033] Through the communication connection between the control module 400, the vision recognition module 300 and the driving module 200, the entire process of grasping and installing photovoltaic modules is automated, and operations such as moving, grasping and installing are completed independently, reducing the labor intensity of manual work and improving work efficiency. It is especially suitable for large-scale photovoltaic power station construction and can complete the installation tasks of a large number of photovoltaic modules in a short time.

[0034] In an embodiment, as Figure 1As shown, the robotic arm 110 is a robotic arm with multiple degrees of freedom, enabling flexible movement in multiple dimensions and being able to adapt to various complex working scenarios and the position requirements of photovoltaic modules. An adaptive fixture 111 is equipped at the end of the robotic arm with multiple degrees of freedom. This fixture can adjust its own degrees of freedom in real time according to the position, attitude, and shape characteristics of the photovoltaic module to achieve stable grasping of the photovoltaic module. For example, when the photovoltaic module is at different tilt angles or positions, the adaptive fixture 111 can accurately fit and grasp the photovoltaic module by adjusting its joint angles and movement trajectories. The combination of the robotic arm 110 with multiple degrees of freedom and the adaptive fixture 111 further improves the grasping ability of the robot for photovoltaic modules with different shapes and attitudes, enhancing the versatility and flexibility of the robot. Regardless of how the position and attitude of the photovoltaic module change in the installation site, the robot can accurately grasp the photovoltaic module through the adjustment of the adaptive fixture 111, improving the success rate and efficiency of installation.

[0035] In one embodiment, the adaptive fixture 111 includes multiple suction cups and clamping jaws. The suction cups are made of silicone material. Silicone has good flexibility and sealing performance, and can closely fit the surface of the photovoltaic module to form a good sealing effect. A vacuum generator is provided inside the suction cup. When the vacuum generator works, it can generate negative pressure inside the suction cup, thereby using atmospheric pressure to firmly adsorb the photovoltaic module on the suction cup. The clamping jaws are driven by electric push rods, and the electric push rods can precisely control the telescopic movement of the clamping jaws according to control instructions to achieve the clamping and releasing operations of the photovoltaic module.

[0036] In one embodiment, the adaptive fixture 111 further includes a pressure sensor, which is arranged on the surface where the clamping jaw contacts the photovoltaic module. During the process of the clamping jaw clamping the photovoltaic module, the pressure sensor can real-time monitor the clamping force of the clamping jaw on the photovoltaic module and feed the monitoring data back to the control system. When the clamping force exceeds the set threshold, it indicates that the clamping force of the clamping jaw on the photovoltaic module is too large and may cause damage to the photovoltaic module. At this time, the electric push rod will automatically adjust the telescopic position of the clamping jaw according to the feedback signal to reduce the clamping force to avoid damaging the photovoltaic module.

[0037] In one embodiment, as Figure 3 shown, it further includes a terrain perception module and a path planning module. The terrain perception module uses various sensors, such as lidar, millimeter-wave radar, ultrasonic sensors, etc., to real-time perceive the terrain and landform information around the robot, including the flatness of the ground, slope, positions and shapes of obstacles, etc. The path planning module is communicatively connected to the terrain perception module. It receives the terrain information sent by the terrain perception module and calculates the optimal driving path for the robot to continue moving forward according to the current position, target position of the robot, and environmental constraint conditions using path planning algorithms.

[0038] In one embodiment, given that in the construction environment of a large-scale photovoltaic power station with strong wind and sand, dust is likely to interfere with the image acquisition of the visual recognition module 300, affecting the recognition accuracy of photovoltaic modules, the visual recognition module 300 includes a target image acquisition unit and an anti-dust processing unit. The anti-dust processing unit is used to detect dust in the images acquired by the image acquisition unit. When dust interference is detected in the image, a dust detection model or algorithm is used to compensate and repair the image. The image acquisition unit is responsible for acquiring the image information of the photovoltaic module and its surrounding environment, providing the original data for the target image acquisition sub-module. The anti-dust processing unit is used to detect dust in the images acquired by the image acquisition unit. When dust interference is detected in the image, it will use a dust detection model or algorithm to compensate and repair the image. For example, by analyzing the dust characteristics in the image, image filtering, enhancement and other technologies are used to remove the influence of dust on the image, and restore the clarity and accuracy of the image. The existence of the anti-dust processing unit effectively solves this problem, ensures the normal operation of the visual recognition module 300 in a dusty environment, improves the accuracy and reliability of photovoltaic module recognition, and thus ensures that the robot can accurately grasp and install photovoltaic modules.

[0039] In one embodiment, the housing of the robot main body structure 100 adopts a dust-proof structure, which can effectively prevent dust from entering the robot interior and protect the electronic components and mechanical equipment of the robot from being eroded and damaged by dust. More specifically, the dust-proof structure is a dust-proof filter screen at the air inlet and ventilation opening of the robot. The dust-proof filter screen is installed at the air inlet and ventilation opening, which can block dust from entering the robot interior, while ensuring the normal circulation of air, providing heat dissipation and ventilation conditions for the equipment inside the robot. The dust-proof filter screens at the air inlet and ventilation opening are a simple and effective dust-proof measure. It can not only prevent dust from entering the robot interior, but also ensure the heat dissipation and ventilation requirements of the robot, ensuring that the robot can operate normally in a dusty environment, and improving the adaptability and reliability of the robot.

[0040] In one embodiment, it further includes a temperature-sensing intelligent temperature control system. The temperature-sensing intelligent temperature control system includes a temperature sensor, a heat dissipation unit, and a heating unit. The temperature sensor is communicatively connected to the control module 400. The temperature sensor is communicatively connected to the control module 400 to monitor the temperature change inside the robot in real time and feed the temperature data back to the control module 400. When the acquired temperature exceeds the upper temperature threshold, it indicates that the temperature inside the robot is too high, which may affect the performance and lifespan of electronic components. At this time, the control module 400 will control the heat dissipation unit to start, and dissipate the heat through a heat dissipation fan, heat sink, etc., to lower the temperature inside the robot; when the temperature is lower than the lower temperature threshold, it indicates that the temperature inside the robot is too low, which may affect the performance of the battery and the normal operation of electronic components. At this time, the control module 400 will control the heating unit to start, provide heat for the electronic control components inside the robot, and adjust the ambient temperature.

[0041] In one embodiment, it further includes an intelligent task scheduling and management system. This system can perform comprehensive analysis and calculation based on information such as the position and status of the robot and the storage location of photovoltaic modules, and generate photovoltaic module laying tasks. For example, it will reasonably arrange the walking route of the robot and the installation sequence of photovoltaic modules according to the layout plan and installation requirements of the photovoltaic power station to improve the installation efficiency and reduce repetitive work.

[0042] In one embodiment, to reduce costs and supply risks, the photovoltaic module automatic installation robot provided in this application selects domestic high-performance chips. The domestic chips can already meet the computing and control requirements of the photovoltaic module installation robot in terms of performance and have a high cost performance. At the same time, the development of the domestic chip industry makes the supply chain more stable, not affected by changes in the international situation, and ensures the long-term stable operation of the project.

[0043] The photovoltaic module automatic installation robot provided in this application uses a self-developed dedicated program. According to the functional requirements of the photovoltaic module installation robot and the special environment of the sandy grassland area, a dedicated program is developed independently. This program integrates multiple functional modules such as the motion control, visual recognition processing, task scheduling, and environmental perception of the robot to achieve efficient collaborative work among the modules. Through the optimization of the program, it can flexibly adjust the working mode and control strategy of the robot according to the actual on-site conditions, such as terrain changes, dust concentration, temperature, etc., to improve the intelligence level and environmental adaptability of the robot. At the same time, the program has good scalability and compatibility, which is convenient for subsequent function upgrade and optimization according to project requirements.

[0044] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0045] It should be noted that in the present application, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0046] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. An automatic installation robot for a photovoltaic module, characterized in that, Including: The robot main body structure, including a crawler chassis and a robotic arm; A drive module, wherein the robot main body structure is drivingly connected to the drive module; A vision recognition module, configured to recognize the position, attitude and shape features of the photovoltaic module to be grasped; A control module, which is communicatively connected to the vision recognition module and the drive module, and is configured to send robotic arm drive information and crawler chassis drive information to the drive module according to the acquired position, attitude and shape features of the photovoltaic module.

2. The automatic installation robot for photovoltaic modules according to claim 1, wherein The robotic arm is a robotic arm with multiple degrees of freedom, and an adaptive fixture is equipped at the end of the robotic arm with multiple degrees of freedom. The adaptive fixture is configured to adjust the degrees of freedom in real time to grasp the photovoltaic module according to the position, attitude and shape features of the photovoltaic module.

3. The automatic installation robot for photovoltaic modules according to claim 2, characterized in that, The adaptive fixture includes a plurality of suction cups and clamping jaws. The suction cups are made of silicone material, and a vacuum generator is provided inside the suction cups for generating negative pressure to adsorb the photovoltaic module; the clamping jaws are driven by electric push rods.

4. The automatic installation robot for photovoltaic modules according to claim 2, characterized in that, The adaptive fixture further includes a pressure sensor, which is arranged on the surface where the clamping jaw contacts the photovoltaic module, and is configured to monitor the clamping force of the clamping jaw on the photovoltaic module in real time. When the clamping force exceeds the set threshold, the electric push rod automatically adjusts the telescopic position of the clamping jaw.

5. The automatic installation robot for photovoltaic modules according to claim 1, characterized in that, It further includes a terrain perception module and a path planning module. The terrain perception module is configured to perceive the terrain and landform information around the robot in real time. The path planning module is communicatively connected to the terrain perception module and is configured to plan the optimal driving path for the robot to continue moving forward according to the terrain and landform information around the robot perceived in real time.

6. The automatic installation robot for photovoltaic modules according to claim 1, wherein, The vision recognition module includes a target image acquisition unit and an anti-dust processing unit. The anti-dust processing unit is configured to perform dust detection on the image acquired by the image acquisition unit. When dust interference is detected in the image, a dust detection model or algorithm is used to compensate and repair the image.

7. The automatic installation robot for photovoltaic modules according to claim 1, wherein, The outer shell of the robot main body structure adopts a dust-proof structure.

8. The automatic installation robot for photovoltaic modules according to claim 7, wherein, The dust-proof structure is a dust-proof filter for the air inlet and ventilation opening of the robot.

9. The automatic installation robot for photovoltaic modules according to claim 1, characterized in that, It further includes a temperature perception intelligent temperature control system, which includes a temperature sensor, a heat dissipation unit and a heating unit. The temperature sensor is communicatively connected to the control module. The control module is configured to control the heat dissipation unit or the heating unit to start when the acquired temperature exceeds the upper temperature threshold or the lower temperature threshold, so as to adjust the ambient temperature for the electronic control components inside the robot.

10. The automatic installation robot for photovoltaic modules according to claim 1, characterized in that, It further includes an intelligent task scheduling and management system, which is configured to generate a photovoltaic module laying task according to the position and status of the robot and the storage position of the photovoltaic module.

Images