Hole site alignment method for photovoltaic panel and purline and photovoltaic installation robot

Abstract

The invention provides a photovoltaic panel and purline hole site alignment method and a photovoltaic installation robot, and the method comprises the steps: grabbing a to-be-installed photovoltaic panel through a mechanical arm, moving the to-be-installed photovoltaic panel to a fine adjustment position, and hovering the to-be-installed photovoltaic panel; obtaining a first image at the fine adjustment position, and calculating an included angle between a purline center line and an upper edge line of the to-be-installed photovoltaic panel according to the first image; adjusting the to-be-installed photovoltaic panel according to the included angle to enable the upper edge line to be parallel to the center line of the purline, and then obtaining a second image through the visual device; according to the second image, calculating a first actual distance from the center point of the purline to the center line of the to-be-installed photovoltaic panel and a third actual distance between the center line of the purline and an installation hole of the to-be-installed photovoltaic panel; and adjusting the photovoltaic panel to be mounted according to the first actual distance and the third actual distance, so that the mounting hole of the photovoltaic panel to be mounted is aligned with the connecting hole of the purline. The manufacturing cost and the installation cost of the photovoltaic support are reduced, and the installation success rate of the photovoltaic panel is improved.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic panel installation, and in particular to a method for aligning holes between a photovoltaic panel and a purlin, and a photovoltaic installation robot. Background Art

[0002] The installation of photovoltaic panels is crucial in the construction of photovoltaic power plants. To improve the efficiency of photovoltaic panel installation, photovoltaic installation robots have been introduced to grasp photovoltaic panels and install them on photovoltaic supports.

[0003] Typically, the PV panel frame has mounting holes, and the purlins of the PV rack have connection holes. During installation, a robot must accurately position the PV panel frame on the purlins of the PV rack, ensuring that the PV panel mounting holes align with the purlin connection holes. Only in this way can bolts or screws be inserted through the mounting and connection holes to securely connect the two.

[0004] Robots can use a fixed-position method to install photovoltaic panels at a preset location, but this places extremely high demands on the installation precision and manufacturing quality of the photovoltaic brackets. In actual construction sites, harsh environmental conditions often lead to deviations in the installation of photovoltaic brackets, such as bracket installation offset or purlin installation offset. Furthermore, uneven ground (such as potholes) can severely limit fixed-position installation methods, affecting installation efficiency and quality.

[0005] Another method currently used for photovoltaic panel installation is to identify QR codes. Specifically, the QR code is fixed near the connection holes of the purlins. A visual device detects the spatial position of the QR code, which is then used to calculate the location of the purlin connection holes and then install the photovoltaic panels. However, while this method improves installation flexibility to a certain extent, it still places high demands on the manufacturing cost of the photovoltaic bracket due to the need for additional QR code identification and QR code positioning systems. Summary of the Invention

[0006] One of the purposes of the present invention is to address at least some of the problems existing in the prior art and to provide a method for aligning holes between photovoltaic panels and purlins and a photovoltaic installation robot.

[0007] The technical solutions provided by the present invention are as follows: A method for aligning holes between photovoltaic panels and purlins is used in a photovoltaic installation robot. The photovoltaic installation robot includes a robotic arm and a visual device located at the end of the robotic arm. The method includes: Grab the photovoltaic panel to be installed by using a robotic arm, move it to a fine-tuning position and hover it, where the fine-tuning position is above the installation position of the photovoltaic panel to be installed; Adjusting the photovoltaic panel to be installed so that it is parallel to the plane of the previously installed photovoltaic panel, and then acquiring a first image including the target purlin and the photovoltaic panel to be installed by a visual device; Calculating the angle between the purlin centerline of the target purlin and the upper edge line of the photovoltaic panel to be installed based on the first image; the purlin centerline is a straight line passing through the center points of the two connection holes of the target purlin; Performing a first fine-tuning process on the photovoltaic panel to be installed according to the angle so that the upper edge line of the photovoltaic panel to be installed is parallel to the center line of the purlin, and then acquiring a second image through a visual device; Calculating, based on the second image, a first actual distance from a center point of the purlin to a center line of the photovoltaic panel to be installed, and a third actual distance between the center line of the purlin and a mounting hole of the photovoltaic panel to be installed; A second fine-tuning process is performed on the photovoltaic panel to be installed according to the first actual distance and the third actual distance, so that the mounting hole of the photovoltaic panel to be installed is coaxially aligned with the connection hole of the target purlin.

[0008] In some embodiments, the visual device further comprises a laser point cloud emitting device; Adjust the photovoltaic panel to be installed so that it is parallel to the plane of the previously installed photovoltaic panel, including: The laser point cloud emission device is used to detect the point cloud planes of the photovoltaic panel to be installed and the previous installed photovoltaic panel, obtain the normal vectors of the two point cloud planes, calculate the deviation of the two normal vectors, and adjust the photovoltaic panel to be installed according to the deviation so that it is parallel to the plane of the previous installed photovoltaic panel.

[0009] In some embodiments, calculating the angle between the purlin centerline of the target purlin and the upper edge line of the photovoltaic panel to be installed based on the first image includes: Using an image object detection algorithm to detect two connection holes of the target purlin in the first image, obtaining the coordinates of the center points of the two connection holes, and determining a straight line equation of the center line of the purlin in the first image based on the coordinates of the center points of the connection holes; Using an image object detection algorithm to detect each photovoltaic panel module to be installed in the first image, obtaining the position information of the upper left corner point and the upper right corner point of each photovoltaic panel module, and fitting all the upper left corner points and the upper right corner points using the least squares method to determine the straight line equation of the upper edge line of the photovoltaic panel to be installed in the first image; The angle between the purlin centerline and the upper edge line of the photovoltaic panel to be installed is obtained according to the slope of the linear equation of the purlin centerline in the first image and the slope of the linear equation of the upper edge line of the photovoltaic panel to be installed.

[0010] In some embodiments, calculating a first actual distance from a purlin center point to a center line of a photovoltaic panel to be installed based on the second image includes: Using an image object detection algorithm to detect two connection holes of the target purlin in the second image, obtaining the coordinates of the center points of the two connection holes, and determining the position of the center point of the purlin based on the coordinates of the center points of the two connection holes; Using an image object detection algorithm to detect the central white area of ​​the photovoltaic panel to be installed in the second image, obtaining four corner points of the central white area; determining a straight line equation based on the positions of the four corner points, and recording the central line as the center line of the photovoltaic panel to be installed; Get the ratio of pixel distance to actual distance of the purlin area ratio 檩条 ; Obtain the pixel distance dis0 from the center point of the purlin to the center line of the photovoltaic panel to be installed in the second image; Calculate the first actual distance dX from the center point of the purlin to the center line of the photovoltaic panel to be installed according to the following formula: dX = ratio 檩条 dis0.

[0011] In some embodiments, calculating a third actual distance between a purlin centerline and a mounting hole for a photovoltaic panel to be mounted based on the second image includes: Calculate the second actual distance dY from the center point of the purlin to the upper edge line of the photovoltaic panel to be installed; The third actual distance is obtained by adding the preset actual distance between the mounting hole of the photovoltaic panel to be mounted and the upper edge line to the second actual distance.

[0012] In some embodiments, calculating the second actual distance dY from the center point of the purlin to the upper edge line of the photovoltaic panel to be installed includes: Get the ratio of the pixel distance to the actual distance of the area where the photovoltaic panels are to be installed ; Using an image object detection algorithm to detect each photovoltaic panel module to be installed in the second image, obtaining position information of the upper left corner point and the upper right corner point of each photovoltaic panel module, and fitting all the upper left corner points and the upper right corner points using the least squares method to determine the straight line equation of the upper edge line of the photovoltaic panel to be installed in the second image, where the upper edge line of the photovoltaic panel to be installed is composed of all the fitted upper left corner points and the upper right corner points; Obtaining a pixel distance dis1 from the center point of the second image to the upper edge line of the photovoltaic panel to be installed; Obtaining a pixel distance dis2 from the image center point of the second image to the purlin center line; Calculate the second actual distance dY from the center point of the purlin to the upper edge of the photovoltaic panel to be installed according to the following formula: If the center of the purlin is in the upper half of the second image, then dY = dis1 + ratio 檩条 dis2; If the center of the purlin is in the lower half of the second image, then dY = dis1 - ratio 檩条 dis2.

[0013] In some embodiments, the ratio of the pixel distance to the actual distance of the purlin area is obtained. ratio 檩条 ,include: Get the pixel distance between the two connection holes of the target purlin in the second image, recorded as dis 檩条像素距离 ; Get the actual distance dis between the two connection holes of the target purlin 檩条实际距离 ; Use dis 檩条实际距离 Divide by dis 檩条像素距离 ,get ratio 檩条 .

[0014] In some embodiments, the ratio of the pixel distance to the actual distance of the photovoltaic panel area to be installed is obtained. ,include: Get the horizontal length of the photovoltaic panel module to be installed in the second image, recorded as ; Get the actual horizontal length of the photovoltaic panel module to be installed, recorded as ; use Divide by ,get .

[0015] In some embodiments, the visual device further comprises a laser point cloud emitting device; After the second fine-tuning process includes: Laser ranging is performed through a laser point cloud transmitter to obtain the downward pressure distance between the photovoltaic panel to be installed and the target purlin; Press down the photovoltaic panel to be installed according to the pressing distance.

[0016] The present invention also provides a photovoltaic installation robot, comprising: A robotic arm for grabbing, moving, and adjusting photovoltaic panels to be installed; a vision device, located at the end of the robotic arm, for acquiring an image containing the target purlin and the photovoltaic panel to be installed; memory for storing computer programs; The processor is used to implement the hole alignment method of the photovoltaic panel and the purlin described in any of the above embodiments when running the computer program.

[0017] The photovoltaic panel and purlin hole alignment method and photovoltaic installation robot provided by the present invention can at least bring the following beneficial effects: The present invention obtains the relative position relationship between the purlin hole position and the photovoltaic panel to be installed through visual detection, and adjusts the photovoltaic panel to be installed in the fine-tuning position according to the relative position relationship, so that its installation hole is aligned with the purlin connection hole of the photovoltaic bracket, so that the photovoltaic panel can be accurately installed on the purlin of the photovoltaic bracket, thereby improving the installation success rate and installation efficiency of the photovoltaic panel, and reducing the manufacturing cost and installation cost of the photovoltaic bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The preferred embodiment will be described below in a clear and understandable manner with reference to the accompanying drawings, further illustrating the above-mentioned characteristics, technical features, advantages and implementation methods of the photovoltaic panel and purlin hole alignment method and the photovoltaic installation robot.

[0019] Figure 1 It is a flow chart of an embodiment of a method for aligning holes between photovoltaic panels and purlins of the present invention; Figure 2 、 Figure 3 is a schematic diagram of the first image; Figure 4 is a schematic diagram of the first actual distance, the second actual distance, and the third actual distance; Figure 5 It is a structural schematic diagram of an embodiment of the photovoltaic installation robot of the present invention. DETAILED DESCRIPTION

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0021] To simplify the drawings, only the parts relevant to the present invention are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one"; "robot" and "photovoltaic installation robot" have the same meaning.

[0022] One embodiment of the present invention, as Figure 1 As shown, a method for aligning holes between photovoltaic panels and purlins is used for a photovoltaic installation robot. The photovoltaic installation robot includes a robotic arm and a visual device located at the end of the robotic arm. The installation method includes: Step S100: The photovoltaic panel to be installed is grasped by a robotic arm, moved to a fine-tuning position and allowed to hover; the fine-tuning position is located above the installation position of the photovoltaic panel to be installed.

[0023] Specifically, a photovoltaic installation robot is used to install photovoltaic panels on photovoltaic racks, using a robotic arm to grasp, move, and adjust the panels. A visual device, including a camera, provides the robot with visual positioning information.

[0024] The installation location of the photovoltaic panel can be identified by a preset point within the installation area. This location can be predetermined based on the design of the photovoltaic power plant and input to the photovoltaic installation robot. A fine-tuning position is set above the installation location, for example, the center of the installation area. The robot uses its robotic arm to grasp the panel and move it so that the center of the panel reaches the fine-tuning position, where it hovers.

[0025] Step S200 adjusts the photovoltaic panel to be installed so that it is parallel to the plane of the previously installed photovoltaic panel, and then obtains a first image including the target purlin and the photovoltaic panel to be installed through a visual device.

[0026] Specifically, it is detected whether the photovoltaic panel to be installed in the fine-tuning position is parallel to the plane of the previously installed photovoltaic panel. If not, the photovoltaic panel to be installed needs to be adjusted to make it parallel to the plane of the previously installed photovoltaic panel.

[0027] A vision device can be used to capture images of the PV panels to be installed and those already installed. Image processing algorithms can then be used to analyze the relative position and angle of the two panels. The panels to be installed can then be adjusted to be parallel based on this angle. Alternatively, an inertial measurement unit (IMU) can be installed on the panels to measure their posture. The posture data can then be compared with the previously installed panels to determine if they are parallel.

[0028] In one embodiment, the visual device further includes a laser point cloud transmitter. The laser point cloud transmitter detects the point cloud planes of the photovoltaic panel to be installed and the previously installed photovoltaic panel, obtains the normal vectors of the two point cloud planes, calculates the deviation of the two normal vectors, and adjusts the photovoltaic panel to be installed based on the deviation so that it is parallel to the plane of the previously installed photovoltaic panel.

[0029] Specifically, a laser point cloud emitting device is used to emit a laser beam to two photovoltaic panels, and the distance of each reflection point is calculated based on the reflected laser, thereby obtaining the positions of a large number of points on the surface of the photovoltaic panel, that is, generating point cloud data. The point cloud data is plane fitted to obtain the equations of the point cloud planes of the photovoltaic panel to be installed and the previous installed photovoltaic panel, respectively. The normal vectors of these two planes are calculated respectively, and the photovoltaic panel to be installed is adjusted according to the deviation of the two normal vectors to make it parallel to the plane of the previous installed photovoltaic panel.

[0030] When the photovoltaic panel to be installed is parallel to the plane of the previously installed photovoltaic panel, the current posture image is obtained through the visual device to obtain the first image, such as Figure 2 As shown, from top to bottom, it includes the part where the photovoltaic panel 20 has been installed, the target purlin 21 and the part where the photovoltaic panel 22 is to be installed.

[0031] The photovoltaic panel has a frame and some white lines on its surface (multiple parallel horizontal lines and multiple parallel vertical lines). These white lines are the connecting lines between multiple battery cells, used to connect the battery cells in series or in parallel. Figure 2 shown.

[0032] Step S300 calculates the angle between the purlin centerline of the target purlin and the upper edge line of the photovoltaic panel to be installed based on the first image; the purlin centerline is a straight line passing through the center points of the two connection holes of the target purlin.

[0033] Specifically, the straight line equation of the purlin center line of the target purlin in the first image and the straight line equation of the upper edge line of the photovoltaic panel to be installed are obtained, and the angle between the purlin center line and the upper edge line of the photovoltaic panel to be installed is obtained according to the slope of the purlin center line and the slope of the upper edge line of the photovoltaic panel to be installed.

[0034] The linear equations of the purlin centerline and the upper edge of the photovoltaic panel to be installed can be determined based on the linear features in the first image. For example, an opening operation is performed on the first image to remove thin lines and retain thick lines. Based on this, the Hough detection algorithm is then used to extract the horizontal lines in the first image. This yields the upper edge of the photovoltaic panel to be installed, the upper and lower edges of the target purlin, and the purlin centerline of the target purlin based on the upper and lower edges of the target purlin.

[0035] In another embodiment, an image object detection algorithm is used to detect two connection holes (e.g., Figure 3 The center point coordinates of the two connecting holes are obtained, and the linear equation of the purlin center line is determined based on the center point coordinates of the connecting holes.

[0036] Use the image object detection algorithm to detect each photovoltaic panel module to be installed in the first image (the area surrounded by adjacent vertical lines contains multiple parallel battery cells, such as Figure 3 ), obtain the position information of the upper left and upper right corner points of each photovoltaic panel module, and fit all the upper left and upper right corner points using the least squares method to determine the straight line equation of the upper edge line of the photovoltaic panel to be installed; the upper edge line of the photovoltaic panel to be installed is composed of all the fitted upper left and upper right corner points.

[0037] The image object detection algorithm can use one of the object detection algorithms such as YLO algorithm, Faster R-CNN (Region-based Convolutional Neural Networks), SSD (Single Shot MultiBox Detector), RFCN (Region-based Fully Convolutional Networks) for object detection in the image.

[0038] In step S400, the photovoltaic panel to be installed is subjected to a first fine-tuning process according to the included angle, so that the upper edge line of the photovoltaic panel to be installed is parallel to the center line of the purlin, and then a second image is obtained through a visual device.

[0039] Step S500 calculates a first actual distance from the center point of the purlin to the center line of the photovoltaic panel to be installed, and a third actual distance between the center line of the purlin and the mounting hole of the photovoltaic panel to be installed, based on the second image.

[0040] Step S600 performs a second fine-tuning process on the photovoltaic panel to be installed according to the first actual distance and the third actual distance, so that the mounting hole of the photovoltaic panel to be installed is coaxially aligned with the connection hole of the target purlin.

[0041] Specifically, if Figure 4 As shown, the purlin center point is the center point of the two connecting holes (e.g., hole 1 and hole 2) of the target purlin, the purlin centerline 11 is a straight line passing through the center points of holes 1 and 2, and the photovoltaic panel centerline 12 refers to the geometric centerline of the photovoltaic panel. The two mounting holes (e.g., hole 3 and hole 4) of the photovoltaic panel 22 to be installed are symmetrically located about the centerline 12 of the photovoltaic panel to be installed and are a preset actual distance d1 from the upper edge line 13 of the photovoltaic panel. The first actual distance from the purlin center point to the centerline of the photovoltaic panel to be installed is dX, and the third actual distance between the purlin center line and the mounting hole of the photovoltaic panel to be installed is equal to the second actual distance dY from the purlin center point to the upper edge line of the photovoltaic panel to be installed plus the preset actual distance d1 from the mounting hole of the photovoltaic panel to be installed to the upper edge line.

[0042] Since in the second image, the upper edge line of the photovoltaic panel to be installed is parallel to the center line of the purlin, by calculating the first actual distance between the center point of the purlin and the center line of the photovoltaic panel and the third actual distance between the center line of the purlin and the mounting hole of the photovoltaic panel to be installed, the photovoltaic panel to be installed is moved along the upper edge line toward the center point of the purlin by the first actual distance, and along the direction perpendicular to the upper edge line 13 toward the center line of the purlin by the third actual distance, so that the mounting hole of the photovoltaic panel can be aligned with the connection hole of the target purlin.

[0043] Calculating the first actual distance between the purlin center point and the photovoltaic panel center line in step S500 includes: Step S510 uses an image object detection algorithm to detect two connection holes of the target purlin in the second image, obtains the center point coordinates of each connection hole, and determines the position of the purlin center point based on the center point coordinates of the two connection holes.

[0044] Step S520 uses an image object detection algorithm to detect the central white area of ​​the photovoltaic panel to be installed in the second image (e.g. Figure 3 The area surrounded by the red frame is obtained by obtaining the four corner points of the central white area; the central straight line is determined according to the positions of the four corner points (such as Figure 3 The purple line is the center line of the photovoltaic panel to be installed; Step S530: Get the ratio of the pixel distance of the purlin area to the actual distance ratio 檩条 ; Step S540: obtaining the pixel distance dis0 from the center point of the purlin to the center line of the photovoltaic panel to be installed in the second image; Step S541 calculates the first actual distance dX from the center point of the purlin to the center line of the photovoltaic panel to be installed according to the following formula: dX = ratio 檩条 dis0.

[0045] Specifically, the pixel distance dis0 can be obtained according to the linear equation between the coordinates of the center point of the purlin in the second image and the center line of the photovoltaic panel to be installed, and then converted into the actual distance to obtain the first actual distance dX.

[0046] in, ratio 檩条 It can be obtained by the following methods: Get the pixel distance between the two connection holes of the target purlin in the second image, recorded as dis 檩条像素距离 ; Get the actual distance dis between the two connection holes of the target purlin 檩条实际距离 ; Use dis 檩条实际距离 Divide by dis檩条像素距离 ,get ratio 檩条 .

[0047] Calculating the third actual distance between the purlin centerline and the mounting hole of the photovoltaic panel to be installed in step S500 includes: Step S550: calculating a second actual distance dY from the center point of the purlin to the upper edge line of the photovoltaic panel to be installed; In step S560 , the second actual distance is added to the preset actual distance between the mounting hole of the photovoltaic panel to be mounted and the upper edge line to obtain a third actual distance.

[0048] Step S550 includes: Step S551: Obtain the ratio of the pixel distance to the actual distance of the photovoltaic panel area to be installed ； Step S552 uses an image object detection algorithm to detect each photovoltaic panel module (such as Figure 3 ), obtain the position information of the upper left corner and the upper right corner of each photovoltaic panel module, and fit all the upper left corner points and the upper right corner points by the least squares method to determine the straight line equation of the upper edge line of the photovoltaic panel to be installed in the second image; Step S553: ​​obtaining the pixel distance dis1 between the center point of the second image and the upper edge line of the photovoltaic panel to be installed; Step S554: obtaining the pixel distance dis2 from the image center point of the second image to the purlin center line; Step S555 calculates the second actual distance dY from the center point of the purlin to the upper edge line of the photovoltaic panel to be installed according to the following formula: If the center of the purlin is in the upper half of the second image, then dY = dis1 + ratio 檩条 dis2; If the center of the purlin is in the lower half of the image, then dY = dis1 - ratio 檩条 dis2.

[0049] Specifically, the resolution of the second image is 1280 Taking 720 as an example, assuming the upper left corner of the image is the coordinate origin, the X-axis runs from the left to the right of the image, and the Y-axis runs from the top to the bottom of the image, the coordinates of the image center point are (640, 360). If the vertical coordinate of the purlin center point is less than the vertical coordinate of the image center point 360, then the purlin center point is in the upper half of the image; if the vertical coordinate of the purlin center point is greater than the vertical coordinate of the image center point 360, then the purlin center point is in the lower half of the image.

[0050] in, It can be obtained by the following methods: Get the horizontal length of the photovoltaic panel module to be installed in the second image, recorded as ; Get the actual horizontal length of the photovoltaic panel module to be installed, recorded as ;use Divide by ,get .

[0051] The horizontal length of the photovoltaic panel module in the second image can be obtained by an image processing algorithm based on the pixel distance between adjacent vertical lines on the photovoltaic panel surface. The actual horizontal length of the photovoltaic panel module is equal to the length of a single battery cell.

[0052] Step S700 is to press the photovoltaic panel to be installed onto the target purlin.

[0053] Alternatively, the vision device further includes a laser point cloud transmitter, or a separate laser point cloud transmitter is provided at the end of the robotic arm. After the second fine-tuning process, the laser point cloud transmitter performs laser ranging to determine the downward pressure distance between the photovoltaic panel to be installed and the target purlin; the photovoltaic panel to be installed is then pressed downward based on the downward pressure distance.

[0054] This embodiment obtains the relative position relationship between the purlin hole and the photovoltaic panel to be installed through visual inspection, and adjusts the photovoltaic panel to be installed in the fine-tuning position according to the relative position relationship so that its installation hole is aligned with the purlin hole of the photovoltaic bracket, so that the photovoltaic panel can be accurately installed on the purlin of the photovoltaic bracket, thereby improving the installation success rate and installation efficiency of the photovoltaic panel, and reducing the manufacturing cost and installation cost of the photovoltaic bracket.

[0055] One embodiment of the present invention, as Figure 5 As shown, a photovoltaic installation robot 10 includes: A robotic arm 400 for grasping, moving, and adjusting photovoltaic panels to be installed; a visual device 500 , located at the end of the robotic arm, for acquiring an image containing the target purlin and the photovoltaic panel to be installed; Memory 100, for storing computer program 200; The processor 300 is configured to implement the method for aligning holes between a photovoltaic panel and a purlin according to any of the aforementioned embodiments when running the computer program 200.

[0056] The visual device 500 includes a camera, and in some embodiments also includes a laser point cloud emission device.

[0057] In some embodiments, a laser point cloud emission device is independently provided at the end of the robotic arm.

[0058] The memory 100 may be any internal storage unit and / or external storage device capable of storing data and programs, for example, a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, or a flash memory card.

[0059] As needed, the processor 300 can be a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a general-purpose processor or other logic devices, etc.

[0060] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be noted that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for aligning holes between photovoltaic panels and purlins, for use with a photovoltaic installation robot, wherein the photovoltaic installation robot comprises a robotic arm and a visual device at the end of the robotic arm, characterized in that: include: Grasping the photovoltaic panel to be installed by the robotic arm, moving it to a fine-tuning position and causing it to hover, wherein the fine-tuning position is located above the installation position of the photovoltaic panel to be installed; Adjusting the photovoltaic panel to be installed so that it is parallel to the plane of the previously installed photovoltaic panel, and then acquiring a first image including the target purlin and the photovoltaic panel to be installed by the visual device; Calculating the angle between the purlin centerline of the target purlin and the upper edge line of the photovoltaic panel to be installed based on the first image; the purlin centerline is a straight line passing through the center points of the two connection holes of the target purlin; performing a first fine-tuning process on the photovoltaic panel to be installed according to the included angle so that the upper edge line of the photovoltaic panel to be installed is parallel to the center line of the purlin, and then acquiring a second image through the visual device; Calculating, based on the second image, a first actual distance from a center point of the purlin to a center line of the photovoltaic panel to be installed, and a third actual distance between the center line of the purlin and a mounting hole of the photovoltaic panel to be installed; A second fine-tuning process is performed on the photovoltaic panel to be installed according to the first actual distance and the third actual distance, so that the mounting hole of the photovoltaic panel to be installed is coaxially aligned with the connection hole of the target purlin.

2. A method for aligning holes between photovoltaic panels and purlins according to claim 1, characterized in that: The visual device also includes a laser point cloud emission device; The step of adjusting the photovoltaic panel to be installed so as to be parallel to the plane of the previously installed photovoltaic panel includes: The laser point cloud emitting device is used to detect the point cloud planes of the photovoltaic panel to be installed and the previous installed photovoltaic panel, obtain the normal vectors of the two point cloud planes, calculate the deviation of the two normal vectors, and adjust the photovoltaic panel to be installed according to the deviation so that it is parallel to the plane of the previous installed photovoltaic panel.

3. The method for aligning holes between photovoltaic panels and purlins according to claim 1, characterized in that: Calculating the angle between the purlin center line of the target purlin and the upper edge line of the photovoltaic panel to be installed according to the first image, including: Detecting two connection holes of the target purlin in the first image using an image object detection algorithm, obtaining center point coordinates of the two connection holes, and determining a straight line equation of a center line of the purlin in the first image based on the center point coordinates of the connection holes; Using an image object detection algorithm to detect each photovoltaic panel module to be installed in the first image, obtaining position information of the upper left corner point and the upper right corner point of each photovoltaic panel module, and fitting all the upper left corner points and the upper right corner points using the least squares method to determine the straight line equation of the upper edge line of the photovoltaic panel to be installed in the first image; The angle between the purlin centerline and the upper edge line of the photovoltaic panel to be installed is obtained according to the slope of the linear equation of the purlin centerline in the first image and the slope of the linear equation of the upper edge line of the photovoltaic panel to be installed.

4. The method for aligning holes between photovoltaic panels and purlins according to claim 1, characterized in that: Calculating a first actual distance from a center point of the purlin to a center line of the photovoltaic panel to be installed according to the second image includes: Detecting two connection holes of the target purlin in the second image using an image object detection algorithm, obtaining coordinates of center points of the two connection holes, and determining a position of a center point of the purlin based on the coordinates of the center points of the connection holes; Using an image object detection algorithm to detect the central white area of ​​the photovoltaic panel to be installed in the second image, obtaining four corner points of the central white area; determining a straight line equation of a center line based on the positions of the four corner points, and recording the center line as the center line of the photovoltaic panel to be installed; Get the ratio of pixel distance to actual distance of the purlin area ratio 檩条 ; Obtaining a pixel distance dis0 from the center point of the purlin to the center line of the photovoltaic panel to be installed in the second image; The first actual distance dX from the center point of the purlin to the center line of the photovoltaic panel to be installed is calculated according to the following formula: dX = ratio 檩条 dis0。 5. The method for aligning holes between photovoltaic panels and purlins according to claim 4, characterized in that: Calculating a third actual distance between the purlin centerline and the mounting hole of the photovoltaic panel to be installed according to the second image includes: Calculating a second actual distance dY from the center point of the purlin to the upper edge line of the photovoltaic panel to be installed; The third actual distance is obtained by adding the second actual distance to the preset actual distance between the mounting hole of the photovoltaic panel to be mounted and the upper edge line.

6. The method for aligning holes between photovoltaic panels and purlins according to claim 5, characterized in that: Calculating a second actual distance dY from the center point of the purlin to the upper edge line of the photovoltaic panel to be installed includes: Get the ratio of the pixel distance to the actual distance of the area where the photovoltaic panels are to be installed ; Using an image object detection algorithm to detect each photovoltaic panel module to be installed in the second image, obtaining position information of the upper left corner point and the upper right corner point of each photovoltaic panel module, and fitting all the upper left corner points and the upper right corner points using a least squares method to determine a straight line equation of an upper edge line of the photovoltaic panel to be installed in the second image, where the upper edge line of the photovoltaic panel to be installed is formed by all the fitted upper left corner points and the upper right corner points; Obtaining a pixel distance dis1 from the center point of the second image to the upper edge line of the photovoltaic panel to be installed; Obtaining a pixel distance dis2 from the image center point of the second image to the center line of the purlin; The second actual distance dY from the center point of the purlin to the upper edge line of the photovoltaic panel to be installed is calculated according to the following formula: If the center point of the purlin is in the upper half of the second image, then dY = dis1 + ratio 檩条 dis2; If the center point of the purlin is in the lower half of the second image, then dY = dis1 - ratio 檩条 dis2.

7. The method for aligning holes between photovoltaic panels and purlins according to claim 4, characterized in that: The ratio of the pixel distance of the purlin area to the actual distance is obtained ratio 檩条 ,include: Get the pixel distance between the two connection holes of the target purlin in the second image, which is recorded as dis 檩条像素距离 ; Get the actual distance dis between the two connection holes of the target purlin 檩条实际距离 ; Use dis 檩条实际距离 Divide by dis 檩条像素距离 ,get ratio 檩条 .

8. The method for aligning holes between photovoltaic panels and purlins according to claim 6, characterized in that: The ratio of the pixel distance to the actual distance of the photovoltaic panel area to be installed is obtained ,include: Obtain the horizontal length of the photovoltaic panel module of the photovoltaic panel to be installed in the second image, which is recorded as ; Get the actual horizontal length of the photovoltaic panel module to be installed, which is recorded as ; use Divide by ,get .

9. The method for aligning holes between photovoltaic panels and purlins according to claim 1, characterized in that: The visual device also includes a laser point cloud emission device; After the second fine-tuning process includes: Performing laser ranging by the laser point cloud emitting device to obtain the downward pressure distance between the photovoltaic panel to be installed and the target purlin; The photovoltaic panel to be installed is pressed down according to the pressing distance.

10. A photovoltaic installation robot, characterized in that: include: A robotic arm for grabbing, moving, and adjusting photovoltaic panels to be installed; a visual device, located at the end of the robotic arm, for acquiring an image containing the target purlin and the photovoltaic panel to be installed; memory for storing computer programs; A processor, configured to implement the method for aligning holes between a photovoltaic panel and a purlin as claimed in any one of claims 1 to 9 when running the computer program.

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