Full-automatic nano-coating smearing equipment and leakage correcting method thereof

Abstract

The invention relates to the technical field of photovoltaic panel production, and discloses a full-automatic nano-coating smearing device and a leakage correction method thereof.The full-automatic nano-coating smearing device comprises a first moving frame, a second moving frame, a third moving frame, a fourth moving frame, a fifth moving frame and a sixth moving frame, and the lower surface of the first moving frame is slidably connected to a storage frame through auxiliary wheels; the smoothing mechanism is used for smoothing the coating; and the smoothing mechanism comprises a fixing frame, the outer wall of the fixing frame is fixedly connected with a spraying box, the lower surface of the fixing frame is fixedly connected with a second motor, and the output end of the second motor is fixedly connected with a rotating block. The cleaning mechanism is used for cleaning the photovoltaic panel; and the drying mechanism is used for drying the coating. The output end of a second motor is started to drive a rotating block to rotate on a spraying box, a second electric push rod is driven to drive a first connecting block and a limiting block to move towards one side of the spraying box, a scraping plate is driven to move, and the output end of the second electric push rod is started to push the first connecting block, so that the limiting block drives the scraping plate to move to make contact with a photovoltaic panel; and the effect of conveniently spraying and smoothing the coating in a reciprocating manner by adjusting the scraping plate is achieved.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel manufacturing technology, and in particular to a fully automated nano-coating application equipment and its leak correction method. Background Technology

[0002] As a crucial component of clean energy, the quality of the surface coating of photovoltaic panels directly impacts photoelectric conversion efficiency and durability. Currently, nano-coating technology is widely used in photovoltaic panel surface treatment due to its excellent anti-reflection, self-cleaning, and weather-resistant properties. Traditional spraying processes rely on manual operation. Due to limitations in operator skill and physical strength, it's difficult to guarantee coating uniformity and coverage. Uneven coatings and inconsistent thicknesses are common, often requiring manual quality inspection, which can result in missed areas or uneven coverage. However, this blind inspection method cannot promptly detect coating defects, often leading to problems being discovered only in later stages, increasing repair costs and time.

[0003] In terms of cleaning, most existing technologies employ manual or simple mechanical methods. Manual cleaning cannot guarantee the desired cleaning effect every time, especially in corners and crevices, where large amounts of dust and dirt often remain. Even when using mechanical cleaning devices, many machines are inefficient in dust removal and waste collection. Dust dispersed in the air not only pollutes the environment but may also pose a threat to the health of operators. Such equipment typically lacks efficient dust collection and filtration systems, making the cleaning process even more cumbersome. Summary of the Invention

[0004] The purpose of this invention is to provide a fully automated nano-coating application device and its leak correction method, which solves the problems of low efficiency, poor spray uniformity, and incomplete cleaning caused by manual operation in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a fully automated nano-coating application device, comprising: The lower surface of the first movable frame is slidably connected to the storage rack via auxiliary wheels; A smoothing mechanism, installed inside the first movable frame, is used to smooth the coating; The smoothing mechanism includes a fixed frame, a spray box fixedly connected to the outer wall of the fixed frame, a second motor fixedly connected to the lower surface of the fixed frame, a rotating block fixedly connected to the output end of the second motor, the outer wall of the rotating block rotatably connected to the outer wall of the spray box, a second electric push rod fixedly connected inside the rotating block, a first connecting block fixedly connected to the output end of the second electric push rod, a limit block fixedly connected to the outer wall of the first connecting block, the outer wall of the limit block slidably connected to the inside of the spray box, a scraper fixedly connected to the outer wall of the limit block, and a leak-correcting component disposed inside the first connecting block; a cleaning mechanism, installed inside the first movable frame, is used to clean the photovoltaic panels; A drying mechanism, installed on both sides of the first movable frame, is used to dry the coating.

[0006] Preferably, the leak correction component includes a second fixing plate, the outer wall of the second fixing plate is fixedly connected to the outer wall of the first connecting block, a third motor is fixedly connected to the lower surface of the second fixing plate, a rotating rod is fixedly connected to the output end of the third motor, the outer wall of the rotating rod is rotatably connected to the inside of the first connecting block and the limiting block, a connecting rod is fixedly connected to the outer wall of the rotating rod, and multiple cameras are fixedly connected to the outer wall of the connecting rod.

[0007] Preferably, the cleaning mechanism includes a fixed rod, the outer wall of which is fixedly connected to the outer wall of the spray box. A first electric push rod is fixedly connected inside the fixed rod. A cleaning box is fixedly connected to the output end of the first electric push rod. A first fixed plate is fixedly connected to the outer wall of the cleaning box. A first motor is fixedly connected to the lower surface of the first fixed plate. A first gear is fixedly connected to the output end of the first motor. A second gear is meshed with the outer wall of the first gear. The outer wall of the second gear is rotatably connected to the outer wall of the cleaning box. A cleaning wheel is fixedly connected to the outer wall of the second gear. The outer wall of the cleaning wheel is rotatably connected to the inside of the cleaning box.

[0008] Preferably, the drying mechanism includes a heating box, the outer wall of which is fixedly connected to a first movable frame, a first conveying pipe fixedly connected to the outer wall of the heating box, a drying box fixedly connected to one end of the first conveying pipe, a filter screen fixedly connected inside the drying box, a first fan fixedly connected inside the heating box, and a heating rod fixedly connected inside the heating box.

[0009] Preferably, a third electric actuator is fixedly connected inside the first movable frame, and a second connecting block is fixedly connected to the output end of the third electric actuator. The outer wall of the second connecting block is fixedly connected to the outer wall of the spray box, and the outer wall of the spray box is slidably connected to the outer wall of the cleaning box.

[0010] Preferably, the first movable frame is fixedly connected to the outer wall of the second movable frame, the second movable frame is fixedly connected to the interior of the second movable frame, the lower surface of the storage tank is fixedly connected to the connecting pipe, one end of the connecting pipe is fixedly connected to the pressure pump, the lower surface of the pressure pump is fixedly connected to the interior of the second movable frame, the output end of the pressure pump is fixedly connected to the second delivery pipe, and the outer wall of the second delivery pipe is fixedly connected to multiple third delivery pipes.

[0011] Preferably, the outer wall of the third conveying pipe is slidably connected to the inside of the first movable frame, one end of the third conveying pipe is fixedly connected to a spraying frame, and the lower surface of the spraying frame is fixedly connected to multiple spray heads.

[0012] Preferably, a filter box is fixedly connected inside the second movable frame, a negative pressure fan is fixedly connected to the upper surface of the filter box, and a first cleaning pipe is fixedly connected to one end of the filter box.

[0013] Preferably, a second cleaning tube is fixedly connected to the outer wall of the first cleaning tube, the outer wall of the second cleaning tube is slidably connected to the inside of the first movable frame, a cleaning box is fixedly connected to one end of the second cleaning tube, a movable base is fixedly connected to the lower surface of the second movable frame, the outer wall of the second movable frame is slidably connected to the outer wall of the storage rack, and the lower surface of the movable base is slidably connected to the lower surface of the storage rack.

[0014] The fully automated nano-coating application and leak-correction method includes the following steps; S1. Defect detection: After the nano-coating is sprayed and smoothed by a scraper, the coating surface is scanned by a camera in the defect correction component to identify and locate coating defects. S2. Identify and classify coating defects to obtain defect types; S3. After obtaining the defect type, perform a second spraying and align it with the defective area of ​​the coating; S4. Depending on the type of defect, apply additional spray when the coating is missing or too thin, and smooth the uneven coating with a scraper to complete the repair. S5: Complete the defect correction by verifying with the camera in the defect correction component. If no defects are found, the spraying ends. If defects are found, repeat step S2 until the defects are completely repaired.

[0015] In summary, the present invention has at least one of the following beneficial technical effects: 1. This invention drives the rotating block to rotate on the spray box by starting the output end of the second motor, and drives the first connecting block and the limiting block to move to one side of the spray box by the second electric push rod, and drives the scraper to move. By starting the output end of the second electric push rod, the first connecting block is pushed so that the limiting block drives the scraper to move and contact the photovoltaic panel, thereby achieving the effect of adjusting the scraper to easily reciprocate spraying and smoothing the coating.

[0016] 2. This invention starts a third motor to drive a rotating rod to a limit block, and at the same time, a connecting rod drives a camera to move the camera so that the camera is aimed at the rear of the scraper's moving direction. As the first moving frame moves, the scraper smooths the sprayed coating. The smoothed coating is then photographed by the camera, and uneven and missing positions are recorded, achieving the effect of correcting leaks during the second spraying.

[0017] 3. This invention moves the cleaning box by activating the output end of the first electric actuator and slides the third conveying pipe on the first moving frame, bringing the cleaning wheel close to the photovoltaic panel. The first motor is activated to drive the first gear to rotate and drive the second gear to rotate, thereby cleaning the photovoltaic panel. Then, the negative pressure fan is activated to create negative pressure in the filter box, which sucks out the dust generated during the cleaning by the cleaning wheel through the second and third conveying pipes and transports it to the filter box for collection, achieving the effect of cleaning the photovoltaic panel before spraying.

[0018] 4. This invention employs an intelligent detection and classification technology solution, achieving the technical effect of rapidly locating and accurately identifying coating defects. Compared with existing manual inspection methods, it reduces human error and improves detection efficiency and accuracy. This allows for timely detection of problems during production, preventing further losses. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the first movable frame of the present invention; Figure 3 This is a schematic diagram of the spray box of the present invention; Figure 4 This is a cross-sectional view of the spray box of the present invention; Figure 5 For the present invention Figure 4 Enlarged view of point A in the middle; Figure 6 This is a cross-sectional view of the cleaning box of the present invention; Figure 7 For the present invention Figure 6 Enlarged view at point B in the middle; Figure 8 This is a schematic diagram of the second movable frame of the present invention; Figure 9 This is a schematic diagram of the filter box of the present invention; Figure 10 This is a cross-sectional view of the heating box of the present invention; Figure 11 This is a flowchart of the method of the present invention.

[0020] The components include: 1. Storage rack; 2. First movable rack; 3. Cleaning mechanism; 301. Cleaning box; 302. First fixed plate; 303. First motor; 304. First gear; 305. Second gear; 306. Cleaning wheel; 307. Fixed rod; 308. First electric push rod; 4. Drying mechanism; 401. Heating box; 402. Heating rod; 403. First fan; 404. First conveying pipe; 405. Drying box; 406. Filter screen; 5. First cleaning pipe; 6. Second conveying pipe; 7. Storage tank; 8. Second movable rack; 9. Movable base; 10. Smoothing mechanism; 1001. 1002. Fixed frame; 1003. Second electric actuator; 1004. Rotating block; 1005. Second fixed plate; 1006. Third motor; 1007. First connecting block; 1008. Limiting block; 1009. Scraper; 1010. Rotating rod; 1011. Connecting rod; 1012. Camera; 11. Spray box; 12. Third electric actuator; 13. Second connecting block; 14. Spray frame; 15. Spray head; 16. Third delivery pipe; 17. Second cleaning pipe; 18. Pressure pump; 19. Connecting pipe; 20. Filter box; 21. Negative pressure fan; 22. Auxiliary wheel. Detailed Implementation

[0021] The following is in conjunction with the appendix Figure 1 - Appendix Figure 9 The present invention will be further described in detail below.

[0022] This invention provides a fully automated nano-coating application device, comprising: The lower surface of the first movable frame 2 is slidably connected to the storage rack 1 via auxiliary wheels 22; Smoothing mechanism 10, which is installed inside the first movable frame 2, is used to smooth the coating; The smoothing mechanism 10 includes a fixed frame 1001, a spray box 11 fixedly connected to the outer wall of the fixed frame 1001, a second motor 1004 fixedly connected to the lower surface of the fixed frame 1001, a rotating block 1003 fixedly connected to the output end of the second motor 1004, the outer wall of the rotating block 1003 rotatably connected to the outer wall of the spray box 11, a second electric push rod 1002 fixedly connected inside the rotating block 1003, a first connecting block 1007 fixedly connected to the output end of the second electric push rod 1002, a limit block 1008 fixedly connected to the outer wall of the first connecting block 1007, and the outer wall of the limit block 1008 slidably connected to the inside of the spray box 11. A scraper 1009 is fixedly connected to the outer wall of 08. A leak-correcting component is provided inside the first connecting block 1007. The leak-correcting component includes a second fixing plate 1005. The outer wall of the second fixing plate 1005 is fixedly connected to the outer wall of the first connecting block 1007. A third motor 1006 is fixedly connected to the lower surface of the second fixing plate 1005. A rotating rod 1010 is fixedly connected to the output end of the third motor 1006. The outer wall of the rotating rod 1010 is rotatably connected to the inside of the first connecting block 1007 and the limiting block 1008. A connecting rod 1011 is fixedly connected to the outer wall of the rotating rod 1010. Multiple cameras 1012 are fixedly connected to the outer wall of the connecting rod 1011.

[0023] Specifically, by activating the output of the second motor 1004, the rotating block 1003 rotates on the spray box 11. The second electric push rod 1002 moves the first connecting block 1007 and the limiting block 1008 to the other side of the spray box 11's moving direction, causing the first connecting block 1007 to slide within the spray box 11 and move the scraper 1009. Activating the output of the second electric push rod 1002 pushes the first connecting block 1007, causing the limiting block 1008 to slide within the spray box 11 and move the scraper 1009 to contact the photovoltaic panel. Then, the third motor 1006 activates the rotating rod 1010 at the limiting block 1008, while the connecting rod 1011 moves the camera 1012, aligning it with the rear of the scraper 1009's moving direction. As the first moving frame 2 moves, the scraper 1009 moves the sprayed coating... The coating is smoothed, and then the smoothed coating is photographed by camera 1012, recording uneven and missing areas. After the first spraying is completed, the second electric push rod 1002 is activated to reset the scraper 1009. The second motor 1004 is activated to drive the rotating block 1003 and the second electric push rod 1002 to move the first connecting block 1007, which in turn moves the limiting block 1008 and the scraper 1009 to the other side of the spray box 11. The second electric push rod 1002 pushes the first connecting block 1007 to make the scraper 1009 contact the photovoltaic panel. The third motor 1006 drives the rotating rod 1010 to move the connecting rod 1011 and the camera 1012, moving the camera 1012 to the other side of the scraper 1009. The second spraying is performed by moving the base 9 and spraying the uneven and missing areas through the spray head 15.

[0024] Cleaning mechanism 3, installed inside the first movable frame 2, is used to clean photovoltaic panels. Cleaning mechanism 3 includes a fixed rod 307, the outer wall of which is fixedly connected to the outer wall of the spray box 11. A first electric push rod 308 is fixedly connected inside the fixed rod 307. The output end of the first electric push rod 308 is fixedly connected to a cleaning box 301. A first fixed plate 302 is fixedly connected to the outer wall of the cleaning box 301. A first motor 303 is fixedly connected to the lower surface of the first fixed plate 302. A first gear 304 is fixedly connected to the output end of the first motor 303. A second gear 305 is meshed with the outer wall of the first gear 304. The outer wall of the second gear 305 is rotatably connected to the outer wall of the cleaning box 301. A cleaning wheel 306 is fixedly connected to the outer wall of the second movable frame 8, and the outer wall of the cleaning wheel 306 is rotatably connected to the inside of the cleaning box 301. A filter box 20 is fixedly connected to the inside of the second movable frame 8, and a negative pressure fan 21 is fixedly connected to the upper surface of the filter box 20. A first cleaning pipe 5 is fixedly connected to one end of the filter box 20. A second cleaning pipe 17 is fixedly connected to the outer wall of the first cleaning pipe 5, and the outer wall of the second cleaning pipe 17 is slidably connected to the inside of the first movable frame 2. A cleaning box 301 is fixedly connected to one end of the second cleaning pipe 17. A movable base 9 is fixedly connected to the lower surface of the second movable frame 8, and the outer wall of the second movable frame 8 is slidably connected to the outer wall of the storage rack 1. The lower surface of the movable base 9 is slidably connected to the lower surface of the storage rack 1.

[0025] Specifically, the first electric actuator 308 is activated to move the cleaning box 301 and slide the third conveying pipe 16 on the first moving frame 2, bringing the cleaning wheel 306 close to the photovoltaic panel. The first motor 303 is activated to drive the first gear 304 to rotate and drive the second gear 305 to rotate, thereby cleaning the photovoltaic panel. Then, the negative pressure fan 21 is activated to create negative pressure in the filter box 20, which sucks out the dust generated by the cleaning wheel 306 during cleaning through the second conveying pipe 6 and the third conveying pipe 16 and transports it into the filter box 20 for collection.

[0026] The drying mechanism 4 is installed on both sides of the first movable frame 2 and is used to dry the coating. The drying mechanism 4 includes a heating box 401, the outer wall of the heating box 401 is fixedly connected to the first movable frame 2, a first conveying pipe 404 is fixedly connected to the outer wall of the heating box 401, a drying box 405 is fixedly connected to one end of the first conveying pipe 404, a filter screen 406 is fixedly connected inside the drying box 405, a first fan 403 is fixedly connected inside the heating box 401, and a heating rod 402 is fixedly connected inside the heating box 401.

[0027] Specifically, as the first movable frame 2 moves, the scraper 1009 smooths the sprayed coating. The smoothed coating is photographed by the camera 1012, and uneven and missing areas are recorded. After smoothing, the heating rod 402 is activated to heat the coating, and the coating is blown into the first conveying pipe 404 by the first fan 403 and filtered through the filter screen 406 before entering the drying box 405, thereby drying the coating.

[0028] A third electric actuator 12 is fixedly connected inside the first movable frame 2. A second connecting block 13 is fixedly connected to the output end of the third electric actuator 12. The outer wall of the second connecting block 13 is fixedly connected to the outer wall of the spray box 11. The outer wall of the spray box 11 is slidably connected to the outer wall of the cleaning box 301. A second movable frame 8 is fixedly connected to the outer wall of the first movable frame 2. A storage tank 7 is fixedly connected inside the second movable frame 8. A connecting pipe 19 is fixedly connected to the lower surface of the storage tank 7. A pressure pump 18 is fixedly connected to one end of the connecting pipe 19. The lower surface of the pressure pump 18 is fixedly connected inside the second movable frame 8. A second delivery pipe 6 is fixedly connected to the output end of the pressure pump 18. Multiple third delivery pipes 16 are fixedly connected to the outer wall of the second delivery pipe 6. The outer wall of the third delivery pipe 16 is slidably connected to the inside of the first movable frame 2. A spray frame 14 is fixedly connected to one end of the third delivery pipe 16. Multiple spray heads 15 are fixedly connected to the lower surface of the spray frame 14.

[0029] Specifically, firstly, the output end of the third electric actuator 12 pushes the second connecting block 13 to move the spray box 11, causing the third delivery pipe 16 to slide on the first moving frame 2 to adjust the spraying height. Then, the pressure pump 18 is started to extract the nano-coating from the storage tank 7 and deliver it into the second delivery pipe 6, and then through the third delivery pipe 16 to the inside of the spray frame 14, so that it is sprayed onto the photovoltaic panel through the spray head 15.

[0030] The fully automated nano-coating application and leak correction method described below can be referred to in correspondence with the fully automated nano-coating application equipment described above.

[0031] Please see the appendix Figure 11 The present invention also provides a fully automated method for applying and correcting leaks using nano-coatings, comprising the following steps; S1. Defect detection: After the nano-coating is sprayed and smoothed by a scraper, the coating surface is scanned by a camera in the defect correction component to identify and locate coating defects. Specifically, in step S1 of this embodiment, after the initial coating and smoothing of the nano-coating, the surface condition of the coating is rapidly and accurately detected automatically, providing accurate defect locations and original data for subsequent repair steps.

[0032] Execution begins with a preset trigger condition. Specifically, after the first moving frame 2 completes a full coating stroke on the target surface along a predetermined track, the scraper 1009 mounted on the spray box 11 has performed a preliminary smoothing operation on the newly sprayed, wet nano-coating. At this time, the central control system receives the stroke completion signal and then automatically starts the defect detection process.

[0033] The leak correction component issues a working command. The third motor 1006 in the leak correction component is powered on and begins to drive according to the preset speed and rotation angle. The output end of the third motor 1006 is fixedly connected to the rotating rod 1010, thereby driving the rotating rod 1010 to move at a uniform speed. As the rod rotates, multiple cameras 1012 fixed to the outer wall of the rotating rod 1010 dynamically acquire images of the initially smoothed nano-coating surface below.

[0034] The acquired image data stream is transmitted in real time to the device's central processing module via a data interface. This module incorporates machine vision-based image processing algorithms to analyze the received images and identify and locate coating defects. The algorithm's implementation process includes core steps such as establishing a benchmark model, image differential comparison, and defect area identification and localization.

[0035] First, the central processing module calls a standard coating image model pre-stored in the database, denoted as I. std This model represents the image characteristics of a defect-free standard nanocoating under ideal lighting and coating conditions, specifically exhibiting a uniform grayscale distribution.

[0036] Subsequently, the processing module processes the real-time acquired coating image I real Preprocessing is performed, including illumination unevenness correction and geometric distortion correction, to eliminate interference from environmental factors and camera installation angle. Next, the module performs pixel-level difference operations between the corrected real-time image and the standard model to generate a grayscale difference image D(x,y). The calculation relationship can be expressed by the following formula; D(x,y)=|G real (x,y)-G std (x,D(x,y)=|G real (x,y)-G std (x,y)|; In the formula; D(x,y) represents the grayscale difference value at the coordinate point (x,y); G real (x,y) represents the gray value of the preprocessed image at coordinate point (x,y); G std (x,y) represents the gray value of the standard hierarchical image model at coordinate point (x,y).

[0037] The grayscale difference image D(x,y) visually reflects the degree of deviation between the actual coating and the standard coating. For a uniform, defect-free coating, the corresponding D(x,y) value will generally be close to zero.

[0038] Next, the algorithm applies a preset defect discrimination threshold T to the grayscale difference image D(x,y). diff Binarization is performed. For any pixel (x, y) in the image, if its grayscale difference value D(x, y) is greater than T... d If the value is iff, the point is initially identified as a defect point; otherwise, it is a normal point. Through this step, a binary defect mask image can be generated.

[0039] Finally, the algorithm employs connected-component labeling to process the defect mask image. This technique aggregates spatially adjacent defect pixels into independent defect blobs. The algorithm calculates the geometric properties of each independent defect blob, including its centroid coordinates (i.e., the precise location of the defect), area, and circumscribed rectangle.

[0040] S2. Identify and classify coating defects to obtain defect types; Specifically, after the initial detection and location of defects are completed in step S1, the system will execute step S2, which is to identify and classify the identified coating defects in order to obtain their specific defect categories.

[0041] This step is executed automatically by the central processing module of the device. The central processing module receives a list of structured defect data output from step S1. For each entry in the list marked as a valid defect, the processing module will call its corresponding defect image slice data for in-depth analysis.

[0042] The core of the deep analysis is a classification algorithm based on multi-feature fusion. This algorithm extracts and quantifies multiple key features of the defect area image and compares them with a preset classification model to qualitatively determine the defect. For example, the key features include the average gray value and gray-level variance of the defect area.

[0043] First, for a given defect region image consisting of N pixels, the algorithm calculates its average gray value G. avg This value reflects the overall brightness characteristics of the defective area. Its calculation relationship can be expressed by the following formula: In the formula: G avg It is the average gray value of the defective area; N is the total number of pixels constituting the defective region; G(i) is the gray value of the i-th pixel in this region; The operator that sums i from 1 to N Subsequently, the algorithm further calculates the gray-scale variance σ of the defective region. 2 This value quantifies the dispersion of grayscale values ​​within a region, effectively characterizing the uniformity or texture complexity of the coating surface. Its calculation relationship can be expressed by the following formula: In the formula: σ 2 It is the gray-scale variance of the defect area.

[0044] After calculating the characteristic value (G) of each defect region avg ,σ 2 After that, the central processing module starts a decision tree classifier to compare these feature values ​​with a set of pre-calibrated and stored classification thresholds to determine the defect type.

[0045] S3. After obtaining the defect type, perform a second spraying and align it with the defective area of ​​the coating; Specifically, after step S2 completes the identification and classification of defects, the system proceeds to step S3. This step aims to precisely move and align the corresponding repair actuator based on the acquired defect type and location information.

[0046] The equipment's central control system operates based on the updated defect data list from step S2. The central control system first reads the first defect entry to be processed from this list, which contains the defect's precise coordinates and its classification label.

[0047] Subsequently, the central control system makes a decision and selects the actuator to be used for repair based on the classification label of the defect. If the defect type is marked as "coating missing" or "coating too thin", the system determines that supplementary spraying is required and uses the coating mechanism, specifically the spray head 15 on the spray rack 14, as the target alignment tool.

[0048] If the defect type is marked as "coating unevenness", the system determines that secondary smoothing is required and uses the scraper 1009 in the smoothing mechanism 10 as the target alignment tool.

[0049] After identifying the target tool, the central control system executes a coordinate positioning algorithm to calculate the parameters required for the drive device to move to the target position. This algorithm first assigns the defect's coordinates P in the image coordinate system. defect =(x d ,yd ), where x d The coordinate components of the defect point in the X-axis direction, y d The coordinate components of the defect point in the Y-axis direction are converted into the machine's own mechanical coordinates.

[0050] Furthermore, the system calculates the target location required to perform the repair action. For example, this calculation process can be represented by the following formula: In the formula; P target Indicate the required target location coordinates; P defect This indicates the coordinates of the defect center point obtained from step S2; R represents the rotation matrix used for alignment; This indicates the offset of the selected repair tool relative to the first moving frame.

[0051] The target position coordinates P are calculated. target Subsequently, the central control system sends a command to the motion drive system of the equipment. This command drives the power unit connected to the first moving frame 2 to move macroscopically along the guide rail on the storage rack 1) until its reference point reaches the calculated target position P. target nearby.

[0052] The target position coordinates P are calculated. target Subsequently, the central control system sends a command to the motion drive system of the equipment. This command drives the power unit (e.g., a servo motor) connected to the first moving frame 2, causing it to move macroscopically along the guide rail on the storage rack 1 until its reference point reaches the calculated target position P. target nearby.

[0053] S4. Depending on the type of defect, apply additional spray when the coating is missing or too thin, and smooth the uneven coating with a scraper to complete the repair. Specifically, after receiving the confirmation signal that the location has been completed in step S3, the system will automatically call the corresponding repair subroutine based on the "defect type" label bound in the defect data list.

[0054] If the defect type is determined to be coating absence or excessively thin coating, the system will initiate a supplementary spraying subroutine. First, the central control system sends a working command to the pressure pump 18 installed inside the second moving frame 8. The pressure pump 18 then starts, drawing nano-coating from the storage tank 7.

[0055] The paint is pressurized and delivered via the connecting pipe 19 and the second delivery pipe 6 under the action of the pressurized pump 18. Subsequently, the paint is delivered through the third delivery pipe 16 connected to the second delivery pipe 6 and finally reaches the specific spray head 15 below the spray rack 14 which has been aligned with the defect area in step S3.

[0056] The central control system uses a quantitative spraying algorithm to precisely control the dosage of supplementary coating. This algorithm needs to calculate the required duration t for the spray head 15 to be open. spray For example, its computational relationship can be expressed by the following formula. In the formula; t spray It is the calculated spray head opening time; A defect It is the defect area measured in step S1; H target It is the preset standard target thickness of the nano-coating; C type It is a repair coefficient related to the defect type; Q nozzle (P) is the flow rate per unit time of the spray head under the current working pressure P set by the pressurizing pump 18.

[0057] Calculate t spray Then, the controller precisely controls the opening time of the solenoid valve of the spray head 15 for the calculated duration through pulse width modulation (PWM), thereby completing the quantitative recoating of the defective area.

[0058] If the defect type is determined to be "coating unevenness", the system will initiate a secondary smoothing subroutine. First, the central control system sends a command to the second electric actuator 1002 inside the smoothing mechanism 10.

[0059] The output end of the second electric actuator 1002 then extends or retracts by a precise displacement, adjusting the vertical height of the scraper 1009 and its contact pressure on the coating surface via the first connecting block 1007 and the limiting block 1008. This displacement can be determined based on the grayscale variance σ measured in step S2. 2 Dynamic settings are implemented to achieve adaptive pressure control for unevenness defects of varying degrees.

[0060] After the pressure and posture of the scraper 1009 are adjusted to the correct position, the central control system then starts the second motor 1004. The second motor 1004 drives the rotating block 1003 connected to it, and drives the entire scraper assembly to move at a small angle around the defect area, or to fill the depression, thereby achieving secondary smoothing. S5: Defect correction is completed and verified by the camera 1012 in the defect correction assembly. If no defect is found, the spraying ends. If a defect is found, step S2 is repeated until the defect is completely repaired.

[0061] Specifically, step S5 constitutes the verification and closed-loop control link of the defect correction method. This step aims to evaluate the repair effect of step S4 in real time, and through an iterative loop mechanism, ensure that every coating defect is completely repaired, thereby guaranteeing the final coating quality.

[0062] The process is triggered immediately after any repair operation (re-spraying or secondary smoothing) in step S4 is completed. The central control system then instructs the camera 1012 in the leak correction component to re-capture images of the same target area that has just been repaired.

[0063] After acquiring the repaired real-time image, the central control system will invoke the exact same image processing and classification algorithm as in steps S1 and S2 to analyze the new image. This verification process essentially involves recalculating the aforementioned formula for the repaired area and comparing it with the corresponding threshold to generate a repaired defect status report.

[0064] Subsequently, the system enters a decision-making process based on the verification results. First, the system determines whether the analysis results of the repaired area meet the preset quality standards. A successful repair criterion can be represented by the following logical expression: In the formula; D post (x,y) is the grayscale difference value of the repaired area at the coordinate point (x,y); It is the overall grayscale variance of the repaired area; A repaired Represents the entire area that was repaired; T diff and T uneven The defect discrimination threshold defined in steps S1 and S2 If the verification result meets the conditions of the formula, meaning that no valid defects are detected in the repaired area, the system determines that the repair is successful. It will remove the currently processed defect item from the to-do list and check if there are any other unprocessed defects in the list. If the list is empty, the entire defect correction process ends, and the equipment continues to execute subsequent procedures.

[0065] Working principle: First, the output end of the third electric actuator 12 pushes the second connecting block 13 to move the spray box 11, which in turn moves the third conveying pipe 16 to slide on the first moving frame 2 to adjust the spraying height. By starting the output end of the second motor 1004, the rotating block 1003 is driven to rotate on the spray box 11, and the second electric push rod 1002 drives the first connecting block 1007 and the limiting block 1008 to move to the other side of the spray box 11, so that the first connecting block 1007 slides in the spray box 11 and drives the scraper 1009 to move. By starting the output end of the second electric push rod 1002, the first connecting block 1007 is pushed to drive the limiting block 1008 to slide in the spray box 11, and the scraper 1009 moves to contact the photovoltaic panel. Then, the third motor 1006 is started to drive the rotating rod 1010 to the limiting block 1008, and at the same time, the connecting rod 1011 drives the camera 1012 to move so that the camera 1012 is aligned with the rear of the scraper 1009 in the direction of movement. The second moving frame 8 and the first moving frame 2 are moved by the starting seat moving base 9. The cleaning box 301 is moved by the output end of the first electric push rod 308, so that the cleaning wheel 306 is close to the photovoltaic panel. The first gear 304 is driven to rotate by the starting first motor 303 and the second gear 305 is driven to rotate, thereby cleaning the photovoltaic panel. Then, the negative pressure fan 21 is started to generate negative pressure in the filter box 20, so that the dust generated by the cleaning wheel 306 during cleaning is sucked out through the second conveying pipe 6 and the third conveying pipe 16 and transported into the filter box 20 for collection. The nano-coating in the storage tank 7 is extracted by starting the pressurization pump 18 and transported into the second delivery pipe 6, and then into the interior of the spray frame 14 through the third delivery pipe 16, so as to be sprayed onto the photovoltaic panel through the spray nozzle 15. As the first moving frame 2 moves, the scraper 1009 smooths the sprayed coating. The smoothed coating is photographed by the camera 1012, and uneven and missing areas are recorded. After smoothing, the heating rod 402 is activated to heat the coating, and the coating is blown into the first conveying pipe 404 by the first fan 403 and filtered through the filter screen 406 before entering the drying box 405, thereby drying the coating. After the first spraying is completed, the second electric push rod 1002 is activated to reset the scraper 1009. The second motor 1004 is activated to drive the rotating block 1003 and the second electric push rod 1002 to move the first connecting block 1007, which in turn moves the limiting block 1008 and the scraper 1009 to the other side of the spray box 11. The second electric push rod 1002 pushes the first connecting block 1007 to make the scraper 1009 contact the photovoltaic panel. The third motor 1006 drives the rotating rod 1010 to move the connecting rod 1011 and the camera 1012, which moves the camera 1012 to the other side of the scraper 1009. The second spraying is then performed by moving the base 9 and spraying the spray head 15 to spray uneven and missing areas.

[0066] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fully automatic nano-coating application device, characterized in that, include: The lower surface of the first movable frame (2) is slidably connected to the storage rack (1) by auxiliary wheels (22); A smoothing mechanism (10), which is installed inside the first movable frame (2), is used to smooth the coating; The smoothing mechanism (10) includes a fixed frame (1001), a spray box (11) is fixedly connected to the outer wall of the fixed frame (1001), a second motor (1004) is fixedly connected to the lower surface of the fixed frame (1001), a rotating block (1003) is fixedly connected to the output end of the second motor (1004), the outer wall of the rotating block (1003) is rotatably connected to the outer wall of the spray box (11), a second electric push rod (1002) is fixedly connected to the inside of the rotating block (1003), a first connecting block (1007) is fixedly connected to the output end of the second electric push rod (1002), a limit block (1008) is fixedly connected to the outer wall of the first connecting block (1007), the outer wall of the limit block (1008) is slidably connected to the inside of the spray box (11), a scraper (1009) is fixedly connected to the outer wall of the limit block (1008), and a leak-correcting component is provided inside the first connecting block (1007). A cleaning mechanism (3), which is installed inside the first movable frame (2), is used to clean photovoltaic panels; The drying mechanism (4) is installed on both sides of the first movable frame (2) for drying the coating.

2. The fully automated nano-coating application equipment according to claim 1, characterized in that, The leak correction assembly includes a second fixing plate (1005), the outer wall of which is fixedly connected to the outer wall of the first connecting block (1007), and a third motor (1006) is fixedly connected to the lower surface of the second fixing plate (1005). A rotating rod (1010) is fixedly connected to the output end of the third motor (1006). The outer wall of the rotating rod (1010) is rotatably connected to the interior of the first connecting block (1007) and the limiting block (1008). A connecting rod (1011) is fixedly connected to the outer wall of the rotating rod (1010), and multiple cameras (1012) are fixedly connected to the outer wall of the connecting rod (1011).

3. The fully automated nano-coating application equipment according to claim 1, characterized in that, The cleaning mechanism (3) includes a fixed rod (307), the outer wall of which is fixedly connected to the outer wall of the spray box (11). A first electric push rod (308) is fixedly connected inside the fixed rod (307). A cleaning box (301) is fixedly connected to the output end of the first electric push rod (308). A first fixed plate (302) is fixedly connected to the outer wall of the cleaning box (301). A first motor (303) is fixedly connected to the lower surface of the first fixed plate (302). A first gear (304) is fixedly connected to the output end of the first motor (303). A second gear (305) is meshed with the outer wall of the first gear (304). The outer wall of the second gear (305) is rotatably connected to the outer wall of the cleaning box (301). A cleaning wheel (306) is fixedly connected to the outer wall of the second gear (305). The outer wall of the cleaning wheel (306) is rotatably connected to the inside of the cleaning box (301).

4. The fully automated nano-coating application equipment according to claim 1, characterized in that, The drying mechanism (4) includes a heating box (401), the outer wall of which is fixedly connected to a first movable frame (2), a first conveying pipe (404) is fixedly connected to the outer wall of the heating box (401), a drying box (405) is fixedly connected to one end of the first conveying pipe (404), a filter screen (406) is fixedly connected inside the drying box (405), a first fan (403) is fixedly connected inside the heating box (401), and a heating rod (402) is fixedly connected inside the heating box (401).

5. The fully automated nano-coating application equipment according to claim 1, characterized in that, The first movable frame (2) is fixedly connected to a third electric push rod (12), and the output end of the third electric push rod (12) is fixedly connected to a second connecting block (13). The outer wall of the second connecting block (13) is fixedly connected to the outer wall of the spray box (11), and the outer wall of the spray box (11) is slidably connected to the outer wall of the cleaning box (301).

6. The fully automated nano-coating application equipment according to claim 1, characterized in that, The first movable frame (2) drives the second movable frame (8) to be fixedly connected to its outer wall. The storage tank (7) is fixedly connected inside the second movable frame (8). The lower surface of the storage tank (7) is fixedly connected to the connecting pipe (19). One end of the connecting pipe (19) is fixedly connected to the pressurizing pump (18). The lower surface of the pressurizing pump (18) is fixedly connected to the inside of the second movable frame (8). The output end of the pressurizing pump (18) is fixedly connected to the second delivery pipe (6). The outer wall of the second delivery pipe (6) is fixedly connected to multiple third delivery pipes (16).

7. The fully automated nano-coating application equipment according to claim 6, characterized in that, The outer wall of the third conveying pipe (16) is slidably connected to the inside of the first moving frame (2). One end of the third conveying pipe (16) is fixedly connected to a spray frame (14), and a plurality of spray nozzles (15) are fixedly connected to the lower surface of the spray frame (14).

8. The fully automated nano-coating application equipment according to claim 6, characterized in that, The second movable frame (8) is fixedly connected to a filter box (20), and a negative pressure fan (21) is fixedly connected to the upper surface of the filter box (20). A first cleaning pipe (5) is fixedly connected to one end of the filter box (20).

9. The fully automatic nano-coating application equipment according to claim 8, characterized in that, The outer wall of the first cleaning tube (5) is fixedly connected to the second cleaning tube (17), the outer wall of the second cleaning tube (17) is slidably connected to the inside of the first movable frame (2), one end of the second cleaning tube (17) is fixedly connected to the cleaning box (301), the lower surface of the second movable frame (8) is fixedly connected to the movable base (9), the outer wall of the second movable frame (8) is slidably connected to the outer wall of the storage rack (1), and the lower surface of the movable base (9) is slidably connected to the lower surface of the storage rack (1).

10. A fully automated nano-coating application and leak correction method, applied to the fully automated nano-coating application equipment as described in any one of claims 1-9, characterized in that, Includes the following steps; S1. Defect detection: After the nano-coating is sprayed and smoothed by a scraper (1009), the coating surface is scanned by a camera (1012) in the leak correction component to identify and locate coating defects; S2. Identify and classify coating defects to obtain defect types; S3. After obtaining the defect type, perform a second spraying and align it with the defective area of ​​the coating; S4. Depending on the type of defect, apply additional spray when the coating is missing or too thin, and smooth the uneven coating a second time with a scraper (1009) to complete the repair. S5: Complete the defect correction by verifying with the camera (1012) in the defect correction component. If no defect is found, the spraying ends. If a defect is found, repeat step S2 until the defect is completely repaired.

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