Photovoltaic module installation robot mechanical arm pose correction method and installation robot

Abstract

The application provides a photovoltaic module installation robot mechanical arm pose correction method and a photovoltaic module installation robot. The mechanical arm pose correction method comprises the following steps: moving a mechanical arm system, so that an image collector located at the end of the mechanical arm system moves to an initial photographing point; acquiring the pose parameters of the image collector, a support and a photovoltaic module at the initial photographing point; controlling the photovoltaic module installation robot to move to a next installation point, and acquiring the pose parameters of the support and the photovoltaic module at the installation point; based on the acquired pose parameters, correcting the photographing posture and position of the image collector to obtain a corrected photographing pose; setting a posture threshold and a coordinate threshold; according to the relationship between the corrected photographing pose and the set posture threshold and coordinate threshold, controlling the image collector at the end of the mechanical arm to stop at the installation point or move to the corrected photographing pose. The application can correct the photographing position and posture in real time under complex terrain.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic module installation robot technology, and in particular to a method for correcting the pose of a robotic arm of a photovoltaic module installation robot for image acquisition and field of view compensation under complex terrain conditions, and a photovoltaic module installation robot using this method. Background Technology

[0002] The exploration of unknown environments by outdoor robots has always been a hot topic and a challenge in their autonomous development research. The flatness of the ground and the uncontrollable changes of the target object are important fundamental issues, which are the basis and prerequisite for outdoor robot arms to accurately perform autonomous positioning, path planning, target identification, target transfer, and target placement.

[0003] Currently, photovoltaic (PV) power plant construction primarily relies on manual labor, which is labor-intensive and inefficient, severely impacting construction efficiency. PV module installation robots have emerged to address this issue, aiming to replace manual labor with robotic arm systems for automated module installation. These robots typically use a camera at the end of the robotic arm system to photograph (scan) the support structure, determining the three-dimensional spatial coordinates of the PV modules. However, centralized PV power plants are often built in complex outdoor environments such as mountains and deserts, where the ground is uneven, with potholes and slopes. The robotic arm is fixed to a tracked or wheeled platform, which tilts at varying angles in such terrain. The image acquisition unit at the end of the robotic arm cannot detect these changes, preventing accurate movement to the correct photographing point. Furthermore, environmental changes alter the PV support's posture (such as height and angle); since the image acquisition unit at the end of the robotic arm cannot detect these posture changes, the same problem arises as with terrain variations.

[0004] In existing technologies, manual teaching is the primary method to address uneven ground, slopes, and changes in support frame posture. The manual teaching process involves manually moving the robotic arm to a suitable position and adjusting its coordinates when the robotic arm system cannot capture the 3D space where the photovoltaic modules are placed on the support frame. This determines the optimal image capture location under these conditions. This method is slow, complex, and difficult to adapt to various outdoor conditions, severely impacting the efficiency of photovoltaic module installation robots.

[0005] Existing patents, such as CN 119217379 A, ​​do not explain how to ensure that the purlins on the support frame can enter the field of view of the RGBD camera on the gripper in different environments; CN 120014024 A does not explain how to use a depth camera to capture a target area containing both the photovoltaic modules to be installed and the installed photovoltaic modules under outdoor conditions, and obtain RGB image data and point cloud data of the target area; CN 116413727 A also does not explain how to obtain a 3D point cloud of the installation environment using a LiDAR component. These patents only involve support frame recognition or 3D point cloud data acquisition, lacking the ability to adaptively correct the image acquisition device's shooting pose under terrain changes.

[0006] Unlike existing technologies such as CN119217379A, which only lack the ability to adaptively correct the image acquisition device's shooting pose under terrain changes, this invention is the first to combine gyroscope attitude compensation, support lidar transformation, and binocular vision algorithms at the robotic arm's end effector to achieve dynamic correction of image acquisition pose without relying on manual teaching of points. This method separates the processing of terrain changes (platform tilt) and target changes (support movement), and through an attitude fusion calibration mechanism, enables the image acquisition device to automatically find the optimal shooting pose in any environment. This solves the problem of shooting failures caused by "blind spots" in complex terrains such as mountains and deserts in existing systems, significantly improving the continuity and reliability of installation operations. Summary of the Invention

[0007] The technical problem this invention aims to solve is to provide a method for correcting the pose of a robotic arm in a photovoltaic module installation robot, as well as the photovoltaic module installation robot itself. This method, after the robot moves to a new position, calculates the corrected photographic pose based on multiple sets of actually collected posture and coordinate parameters, ensuring that the image acquisition device accurately captures the installation position on the photovoltaic support.

[0008] To achieve the above objectives, the present invention provides the following technical solution: This invention first provides a method for correcting the pose of a robotic arm in a photovoltaic module installation robot. The mobile robotic arm system moves the image acquisition unit located at the end of the mobile robotic arm system to the initial shooting point to acquire images of the installation position of the photovoltaic modules on the bracket; Obtain the following parameters at the initial photo capture point: the first posture parameters and first coordinate parameters of the image acquisition device, the second posture parameters and second coordinate parameters of the bracket, and the third posture parameters of the photovoltaic module installation robot walking platform. Control the photovoltaic module installation robot to move to the next installation point, and obtain the fourth attitude parameters and fourth coordinate parameters of the bracket at that installation point; as well as the fifth attitude parameters of the photovoltaic module installation robot's walking platform; Based on the first to fifth posture parameters, first coordinate parameters, second coordinate parameters and fourth coordinate parameters obtained above, the image acquisition posture and position are corrected to obtain the corrected image pose. Set the posture threshold and coordinate threshold; based on the relationship between the corrected photo pose and the set posture threshold and coordinate threshold, control the image acquisition device at the end of the robotic arm to stop at the installation point or move to the corrected photo pose.

[0009] Based on the first to fifth attitude parameters, the first coordinate parameter, and the second coordinate parameter obtained above, the image acquisition attitude and position are corrected to obtain the corrected image pose, including: The difference between the second and fourth attitude parameters of the support is used as the first attitude correction parameter; The difference between the second and fourth coordinate parameters of the stent is used as the first coordinate correction parameter; The difference between the third and fifth posture parameters of the photovoltaic module installation robot is used as the second posture correction parameter; The posture of the image acquisition device is corrected using the first posture parameters, the first posture correction parameters, and the second posture correction parameters to obtain the sixth posture parameters; Using the first coordinate parameters and the first coordinate correction parameters, the image capture coordinates of the robotic arm end effector are corrected to obtain the sixth coordinate parameters of the image capture taken by the robotic arm end effector at the installation point.

[0010] The first attitude correction parameter is calculated as follows: ΔR1 = R4 - R2 Wherein, ΔR1 is the first attitude correction parameter; R2 is the second attitude parameter; and R4 is the fourth attitude parameter.

[0011] The first coordinate correction parameter is calculated as follows: in, D1 is the first coordinate correction parameter; D2 is the second coordinate parameter; D4 is the fourth coordinate parameter.

[0012] The second attitude correction parameter is calculated as follows: ΔR2 = R5 - R3 Wherein, ΔR2 is the second attitude correction parameter; R3 is the third attitude parameter; and R5 is the fifth attitude parameter.

[0013] Using the first posture parameters, the first posture correction parameters, and the second posture correction parameters, the image-taking posture of the robotic arm's end effector is corrected to obtain the sixth posture parameters for the image-taking by the robotic arm's end effector at this installation point; the sixth posture parameters are calculated as follows: R6 = R1 + ΔR1 + ΔR2 Using the first coordinate parameters and the first coordinate correction parameters, the image capture coordinates of the robotic arm's end effector are corrected to obtain the sixth coordinate parameters for the image capture taken by the robotic arm's end effector at this installation point; the sixth coordinate parameters are calculated as follows: Wherein, R6 is the sixth attitude parameter; D6 is the sixth coordinate parameter; R1 is the first attitude parameter; and D1 is the first coordinate parameter.

[0014] The method for controlling the robotic arm's end effector to stop at the installation point or move to the corrected photographic pose based on the relationship between the corrected photographic pose and the set attitude and coordinate thresholds is as follows: When the difference between the sixth posture parameter and the first posture parameter is less than or equal to the set posture threshold, the end effector of the robotic arm is controlled to stop at the installation point; when the difference between the sixth posture parameter and the first posture parameter is greater than the set posture threshold, the end effector of the robotic arm is controlled to move to the corrected shooting position and the corrected shooting posture.

[0015] The first posture parameters and the first coordinate parameters are obtained by acquiring the current angle data of each joint of the robotic arm; the third posture parameters and the fifth posture parameters are measured by the gyroscope set on the photovoltaic module installation robot; the second posture parameters, the fourth posture parameters, the second coordinate parameters, and the fourth coordinate parameters are measured by the lidar.

[0016] To ensure the time consistency of data collected by the lidar, gyroscope, and image acquisition device, the data processing system adopts a unified triggering mechanism and timestamp recording method to synchronously sample and fuse the lidar, gyroscope, and image acquisition device.

[0017] When performing pose correction for the image acquisition device, the system performs shortest path planning and static obstacle avoidance control based on the current environment model and the structural constraints of the robotic arm, ensuring that the robotic arm can stably reach the target position in a complex environment.

[0018] The present invention also provides a photovoltaic module installation robot, comprising: A walking platform, comprising a chassis with a tracked system or a wheeled system, for supporting and driving a robot to move in complex terrain; A robotic arm, which controls an image acquisition device to take pictures at a target location and has six degrees of freedom of movement. An image acquisition device is installed at the end of the robotic arm of the photovoltaic module installation robot to acquire the pose of the photovoltaic module installation position on the photovoltaic bracket; Attitude sensors, including a three-axis gyroscope for determining the attitude of the walking platform and a lidar for determining the position of the support. The data processing system includes a storage medium and a processor for storage and computation, used to store the image capture pose parameters of the robotic arm's end effector, the posture parameters of the photovoltaic module installation robot, and the pose parameters of the support frame; the computer program is read and executed by the processor to implement the aforementioned method for correcting the pose of the robotic arm of the photovoltaic module installation robot.

[0019] Compared with the prior art, the beneficial effects of the present invention are: In the photovoltaic module installation robot robotic arm pose correction method of the present invention, the first pose parameter, the first coordinate parameter, the second pose parameter, the second coordinate parameter, and the third pose parameter are standard values; the fifth pose parameter corrects the difference in robotic arm photographing pose caused by vehicle tilt; the fourth pose parameter and the fourth coordinate parameter correct the difference in robotic arm photographing pose and position caused by bracket pose; and the sixth pose parameter and the sixth coordinate parameter are obtained by spatial coordinate transformation of the first pose parameter, the first coordinate parameter, the second pose parameter, the second coordinate parameter, the third pose parameter, the fourth pose parameter, the fourth coordinate parameter, and the fifth pose parameter. This invention focuses on the issue that during the movement of the photovoltaic module installation robot, environmental changes prevent the robotic arm system from accurately photographing the installation position of the photovoltaic modules on the photovoltaic bracket. Environmental changes are broken down into changes in the posture of the walking platform and changes in the position of the support. Based on these changes, the appropriate image capture position for the robotic arm end effector is calculated. This solves the problem of image position deviation when using the robotic arm end effector to identify the installation position of photovoltaic modules on photovoltaic supports in complex outdoor environments. This facilitates accurate photovoltaic panel picking and placement by the photovoltaic module installation robot and enables continuous operation of the photovoltaic module installation robot. Attached Figure Description

[0020] Figure 1 This is a flowchart of the pose correction method for the robotic arm of the photovoltaic module installation robot in an embodiment of the present invention; Figure 2 This is a schematic diagram of a photovoltaic module installation robot running on a flat road in an embodiment of the present invention; Figure 3 This is a schematic diagram of the photovoltaic module installation robot tilting in an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating the pose change of the photovoltaic support in an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the simultaneous occurrence of photovoltaic bracket pose change and photovoltaic module installation robot tilting in an embodiment of the present invention; Figure 6 This is a front view of each component of the photovoltaic module installation robot in an embodiment of the present invention; Figure 7 This is a schematic diagram of the back of each component of the photovoltaic module installation robot in an embodiment of the present invention; Figure 8 This refers to the location where the photovoltaic module is to be installed on the bracket in this embodiment of the invention; In the diagram: 101-Ground, 102-Photovoltaic module, 103-Photovoltaic support, 104-Walking platform, 105-Robotic arm, 106-Image acquisition device, 107-Support pose measuring instrument, 108-Gyroscope, 109-Storage medium and processor, 110-Photovoltaic module installation position, 111-Photovoltaic support pose measurement position. Detailed Implementation

[0021] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0022] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or sets.

[0023] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, components with the same structure or function are shown only schematically, or only one is labeled. In this document, "a" not only means "only one," but can also mean "more than one."

[0024] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0025] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0027] Combination Figures 1 to 8 As shown, the following are specific embodiments of the present invention.

[0028] This invention relates to a photovoltaic module installation robot suitable for complex terrain, whose robotic arm has a posture adaptive correction function, which can effectively cope with changes in terrain slope and support posture.

[0029] The photovoltaic module installation robot includes the following components: The walking platform 104 is used to carry the entire system and move it in complex terrain; The six-axis robotic arm 105 is used to move the image acquisition device to the preset photo-taking point; Image acquisition unit 106, using a binocular stereo vision camera, is set at the end of the robotic arm; The bracket pose measuring instrument 107, based on lidar, measures the current pose of the bracket; Gyroscope 108 is used to detect the tilt angle of the walking platform in real time; The data processing system 109 includes a storage medium and a processor, and performs pose correction calculations for the image acquisition device.

[0030] To ensure the accuracy of the system's multi-sensor data fusion and pose correction logic, this application adopts a unified robot center coordinate system. The origin of this coordinate system is set as the robot's center position at the initial point, the Z-axis points vertically upwards, the X-axis points in the robot's forward direction, and the Y-axis is determined according to the right-hand rule. All angle calculations use the Euler angle transformation model, and rotation matrices are introduced when necessary to achieve transformations between different coordinate systems.

[0031] Attitude information is represented as a three-dimensional rotation vector (R) in the robot's central coordinate system. x , R y , R zThe coordinates are expressed in degrees and can be converted into rotation matrices or quaternions for attitude superposition and correction calculations. The coordinate information is in Cartesian coordinates (X, Y, Z) in the robot's central coordinate system, with units of millimeters (mm), and can be used for spatial position calculations, trajectory reconstruction, and motion analysis.

[0032] The image acquisition unit, gyroscope, and lidar are mounted at different locations on the robot platform, each with its own independent local coordinate system. The system obtains their homogeneous coordinate transformation matrices relative to the robot's central coordinate system through static calibration, and then transforms the local data to the robot's central coordinate system using the following formula: D cam_robot =T cam ×D cam_local D lidar_robot =T lidar ×D lidar_local D gyro_robot =T gyro ×D gyro_local Among them, D cam_robot D lidar_robot D gyro_robot This is the result after transforming the data to the robot's central coordinate system; D cam_local D lidar_local D gyro_local These are the local coordinate data of the image acquisition device, LiDAR, and gyroscope, respectively; T cam T lidar T gyro These are the homogeneous coordinate transformation matrices of each sensor relative to the robot's central coordinate system.

[0033] The robotic arm is a multi-degree-of-freedom serial structure, with an image acquisition device mounted on its end effector. By acquiring the current angle data of each joint of the robotic arm and combining it with preset robotic arm DH parameters (Denavit–Hartenberg parametric modeling method), the processor can calculate the current three-dimensional coordinate position (X, Y, Z) and attitude angle (R) of the image acquisition device in the robot's central coordinate system based on a forward kinematics model. x , R y , R z ), which is the end pose of the image acquisition device.

[0034] The three-axis gyroscope is fixed on the vertical plane of the walking platform. By acquiring its output angular velocity and acceleration signals in real time, attitude calculation is performed using inertial navigation algorithms (such as extended Kalman filtering). Combined with a pre-set sensor mounting orientation transformation matrix, the raw measurement data is transformed to the robot's central coordinate system, ensuring the final calculated Euler angle attitude (R0). x , Ry , R z (This refers to the current tilt state of the platform.)

[0035] The LiDAR, mounted on the side of the robot platform, has a scanning field of view of over 180°, enabling it to acquire high-density spatial point cloud data of the target area of ​​the support structure. The data processing module extracts the support structure point cloud using filtering and region segmentation methods, and uses the RANSAC algorithm to fit the principal plane of the support structure mounting surface to obtain its normal vector, thereby calculating the support structure's attitude information. Simultaneously, by combining the plane's center point or preset feature points as spatial reference points for the support structure, complete support structure pose parameters are formed.

[0036] To ensure temporal consistency of multi-source data from LiDAR, gyroscope, and image acquisition, the data processing system employs a unified triggering mechanism and timestamp recording method to synchronously sample and fuse data from all sensors, ensuring accurate and comparable pose change parameters. Regarding spatial coordinate unification, the system calibration phase acquires the homogeneous transformation matrix of each sensor relative to the robot's central coordinate system, transforming all sensor data to a unified coordinate system. Addressing differences in sampling frequency, linear interpolation (position) and spherical linear interpolation (Slerp, attitude quaternion) based on timestamps are used to achieve data temporal alignment, forming a synchronous multi-source dataset.

[0037] When performing posture correction of the image acquisition device, the system performs shortest path planning and static obstacle avoidance control based on the structural constraints of the robotic arm to ensure that the robotic arm can stably reach the target point in complex space and avoid risks such as jamming and interference.

[0038] A method for correcting the pose of a robotic arm in a photovoltaic module installation robot includes the following steps: Step S1, Initial photo location setting The robot arm 105 is moved to an initial photo-taking position by manual instruction, so that the image acquisition device 106 can capture the photovoltaic module installation position 110 on the bracket 103.

[0039] The initial shooting location must meet the following requirements: the image acquisition device can completely cover the target area; the image acquisition device and the shooting plane of the bracket should be as parallel as possible; the shooting distance is within the optical imaging range (the default is less than 2 meters, and the specific value can be calibrated through experiments).

[0040] At this point, record: the first pose parameter R1 of the image acquisition device 106, in units of angle, represented as a rotation vector (R... x1 ,R y1 , R z1 The first coordinate parameter D1 of the image acquisition device is represented as three-dimensional coordinates (x1, y1, z1); the second attitude parameter R2 of the support 103 is... x2 , R y2 , Rz2 The second coordinate parameter D2(x2, y2, z2); the third attitude parameter R3(R) of the walking platform 104. x3 , R y3 , R z3 The parameters are provided by gyroscope 108. All of the above parameters are defined in a unified robot center coordinate system.

[0041] Step S2: Robot movement and parameter re-acquisition Move the robot to the next installation point and record the following changes: the fourth attitude parameter R4 and the fourth coordinate parameter D4 of the support at the new position, which are obtained through the support measuring instrument 107; the fifth attitude parameter R5 (new attitude) of the walking platform 104, which is obtained through the gyroscope 108.

[0042] Step S3: Calculation of pose correction parameters Based on the collected raw and post-movement data, calculate: the first attitude correction parameter ΔR1 = R4 - R2 = (R x4 -R x2 ,R y4 -R y2 , R z4 -R z2 The first coordinate correction parameter ΔD1 = D4 - D2 = (x4 - x2, y4 - y2, z4 - z2); the second attitude correction parameter ΔR2 = R5 - R3.

[0043] Step S4: Generation of new target pose and coordinates The new target pose parameters are calculated using the following formulas: sixth pose parameter R6 = R1 + ΔR1 + ΔR2; sixth coordinate parameter D6 = D1 + ΔD1.

[0044] At this point, the following judgment is made: if |R6 - R1| > attitude threshold (e.g., 3°), then R6 is used as the correction value; if |D6 - D1| > coordinate threshold (e.g., 10mm), then D6 is used as the correction value; otherwise, the original parameters are used.

[0045] Step S5: Control the movement of the robotic arm according to the correction value. Based on the corrected sixth attitude parameter R6 and sixth coordinate parameter D6, the robot arm's motion degrees of freedom are controlled to ensure that the image acquisition unit 106 accurately moves to the corrected image capture position. An inverse kinematics algorithm is used to complete the conversion from end-effector pose to joint angles, ensuring accurate and consistent posture and position.

[0046] In a preferred embodiment of the present invention, a teaching operation is required during the initial operation of the system. (Select as follows) Figure 2On the flat ground shown, the robotic arm 105 is manually controlled to move so that the image acquisition device 106 at its end is in a suitable position for taking pictures.

[0047] At this time, the following conditions should be met: the imaging plane of the image acquisition device 106 should be as parallel as possible to the mounting surface of the photovoltaic bracket 103; the image acquisition device 106 should be located in the center area of ​​the image and be able to completely cover the installation position 110; the distance between the image acquisition device and the installation position 110 should be controlled within the optimal imaging range (generally 0.5~1.5 meters, determined according to the actual optical parameters). In this state, the system records the following initial reference parameters: the three-dimensional coordinates of the image acquisition device are designated as the first coordinate parameter D1 (x1, y1, z1); the orientation of the image acquisition device is designated as the first orientation parameter R1 (R... x1 , R y1 , R z1 The posture and coordinates of the support are the second posture parameter R2 and the second coordinate parameter D2, respectively, measured by the support posture measuring instrument 107; the posture of the walking platform is the third posture parameter R3, measured by the gyroscope 108. All of the above parameters are defined in a unified robot center coordinate system and stored as standard state references by the processing system 109.

[0048] Specifically, as the vehicle moves to the next installation point, the position of the photovoltaic bracket 103 changes, and the terrain also changes, such as... Figure 5 and Figure 2 As shown in the comparison, the following parameters changed: the attitude parameter R4 and coordinate parameter D4 of the new support were obtained through the support measuring instrument 107; the attitude R5 of the new platform was obtained through the gyroscope 108.

[0049] Based on the above changes, the following parameters are calculated in sequence: first attitude correction parameter ΔR1 = R4 - R2; first coordinate correction parameter ΔD1 = D4 - D2; second attitude correction parameter ΔR2 = R5 - R3.

[0050] Then, the corrected pose of the image acquisition device is calculated: the sixth pose parameter R6 = R1 + ΔR1 + ΔR2; the sixth coordinate parameter D6 = D1 + ΔD1.

[0051] To ensure the correction takes effect, a judgment mechanism is introduced: if |R6-R1|> attitude threshold (e.g., 3°), then R6 is applied; if |D6-D1|> coordinate threshold (e.g., 10mm), then D6 is applied; otherwise, the original teaching value is used.

[0052] Specifically, when the vehicle moves to the next installation point, only the terrain changes, such as... Figure 4 and Figure 2As shown in the comparison, the terrain in the complex outdoor environment has various tilt angles, causing the platform to tilt. At this time: the gyroscope 108 reads the tilt angle of the walking platform in real time and records it as the fifth attitude parameter R5; calculates the platform pose change ΔR2 = R5 - R3; compensates for the initial attitude R1, resulting in R6 = R1 + ΔR2; if ΔR2 exceeds the set threshold, R6 is used for attitude control, otherwise R1 is retained.

[0053] Specifically, when the vehicle moves to the next installation point, only the bracket's posture changes, such as... Figure 3 and Figure 2 As shown in the comparison, at this time: attitude correction: R6 = R1 + ΔR1; coordinate correction: D6 = D1 + ΔD1; compare with the original values ​​respectively. If the value exceeds the threshold, update the target parameters for control.

[0054] Specifically, the control process of the robotic arm 105 is as follows: The system sets the target pose (R6, D6) of the image acquisition device; the control system uses the inverse kinematics algorithm to calculate the angle of each joint; the servo motor is controlled to drive each joint to the target angle, so that the end of the image acquisition device moves accurately to the corresponding point of R6 and D6; at the same time, the posture is adjusted so that the shooting direction of the image acquisition device is parallel to the support surface, so as to achieve high-quality image acquisition.

[0055] In one embodiment, according to another aspect of the present invention, the present invention also provides a photovoltaic module installation robot, including a walking platform, a robotic arm system, a pose determination system, and a data processing system.

[0056] For example Figures 7 to 8 As shown, the photovoltaic module installation robot includes the following modules: Walking platform 104: Tracked or wheeled chassis, providing mobility and energy support; Robotic arm system 105: Six-degree-of-freedom robotic arm, controlling image acquisition and component movement; Image acquisition device 106: Binocular stereo vision camera, located at the end of the robotic arm; Pose determination system: Gyroscope 108: Measures platform attitude (R3, R5); LiDAR 107: Measures support attitude and coordinates (R2, R4, D2, D4); Data processing system 109: Includes an embedded processor and storage medium; realizes pose parameter calculation, threshold judgment, inverse kinematics calculation and control command generation; The control program running on the processor can implement all the correction methods in the embodiments.

[0057] The above modules are installed on the platform to form an integrated operating platform, which has the ability to autonomously adapt to environmental changes and automatically correct the image acquisition posture.

[0058] In the above embodiments, according to another aspect of the present invention, the present invention also provides a photovoltaic module installation robot, wherein the computer program is read and run by the processor to implement the photovoltaic module installation robot robotic arm pose correction method.

[0059] In some implementations, the three-axis gyroscope is fixed to the vertical plane of the walking platform. By acquiring its output angular velocity and acceleration signals in real time, attitude calculation is performed using inertial navigation algorithms (such as extended Kalman filtering). Combined with a pre-set sensor mounting orientation transformation matrix, the raw measurement data is transformed to the robot's central coordinate system, ensuring that the final calculated Euler angle attitude (R) is accurate. x , R y , R z (This refers to the current tilt state of the platform.)

[0060] In some implementations, the LiDAR is mounted on the side of the robot platform, possessing a scanning field of view of over 180°, enabling it to acquire high-density spatial point cloud data of the target area of ​​the support structure. The data processing module extracts the support structure point cloud using filtering and region segmentation methods, and uses the RANSAC algorithm to fit the principal plane of the support structure mounting surface to obtain its normal vector, thereby calculating the support structure's attitude information. Simultaneously, by combining the plane's center point or preset feature points as spatial reference points for the support structure, complete support structure pose parameters are formed.

[0061] In some implementations, to ensure time consistency of multi-source data from lidar, gyroscope, and image acquisition unit, the data processing system employs a unified triggering mechanism and timestamp recording method to synchronously sample and fuse data from all sensors, ensuring that pose change parameters are accurate and comparable.

[0062] In some implementations, when performing image acquisition device posture correction, the system performs shortest path planning and static obstacle avoidance control based on the current environment model and the structural constraints of the robotic arm, ensuring that the robotic arm can stably reach the target point in complex spaces and avoid risks such as jamming and interference.

[0063] It should be noted that the above description is only a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for correcting the pose of a robotic arm in a photovoltaic module installation robot, characterized in that, The mobile robotic arm system moves the image acquisition unit located at the end of the mobile robotic arm system to the initial shooting point to acquire images of the installation position of the photovoltaic modules on the bracket; Obtain the following parameters at the initial image capture point: the first posture parameters and first coordinate parameters of the image acquisition device, the second posture parameters and second coordinate parameters of the support, and the third posture parameters of the photovoltaic module installation robot walking platform. Control the photovoltaic module installation robot to move to the next installation point, and obtain the fourth attitude parameters and fourth coordinate parameters of the bracket at that installation point; as well as the fifth attitude parameters of the photovoltaic module installation robot's walking platform; Based on the first to fifth posture parameters, first coordinate parameters, second coordinate parameters and fourth coordinate parameters obtained above, the image acquisition posture and position are corrected to obtain the corrected image pose. Set the posture threshold and coordinate threshold; based on the relationship between the corrected photo pose and the set posture threshold and coordinate threshold, control the image acquisition device at the end of the robotic arm to stop at the installation point or move to the corrected photo pose. Based on the first to fifth attitude parameters, the first coordinate parameter, and the second coordinate parameter obtained above, the image acquisition attitude and position are corrected to obtain the corrected image pose, including: The difference between the second and fourth attitude parameters of the support is used as the first attitude correction parameter; The difference between the second and fourth coordinate parameters of the stent is used as the first coordinate correction parameter; The difference between the third and fifth posture parameters of the photovoltaic module installation robot is used as the second posture correction parameter; The posture of the image acquisition device is corrected using the first posture parameters, the first posture correction parameters, and the second posture correction parameters to obtain the sixth posture parameters; Using the first coordinate parameters and the first coordinate correction parameters, the image capture coordinates of the robotic arm end effector are corrected to obtain the sixth coordinate parameters of the image capture taken by the robotic arm end effector at the installation point.

2. The method for correcting the pose of the robotic arm of a photovoltaic module installation robot according to claim 1, characterized in that, The first attitude correction parameter is calculated as follows: ΔR1 = R4 - R2 Wherein, ΔR1 is the first attitude correction parameter; R2 is the second attitude parameter; and R4 is the fourth attitude parameter.

3. The method for correcting the pose of the robotic arm of a photovoltaic module installation robot according to claim 2, characterized in that, The first coordinate correction parameter is calculated as follows: in, D1 is the first coordinate correction parameter; D2 is the second coordinate parameter; D4 is the fourth coordinate parameter.

4. The method for correcting the pose of the robotic arm of a photovoltaic module installation robot according to claim 3, characterized in that, The second attitude correction parameter is calculated as follows: ΔR2 = R5 - R3 Wherein, ΔR2 is the second attitude correction parameter; R3 is the third attitude parameter; and R5 is the fifth attitude parameter.

5. The method for correcting the pose of the robotic arm of a photovoltaic module installation robot according to claim 4, characterized in that, Using the first posture parameters, the first posture correction parameters, and the second posture correction parameters, the image-taking posture of the robotic arm's end effector is corrected to obtain the sixth posture parameters for the image-taking by the robotic arm's end effector at this installation point; the calculation method for the sixth posture parameters is as follows: R6 = R1 + ΔR1 + ΔR2 Using the first coordinate parameter and the first coordinate correction parameter, the image capture coordinates of the robotic arm end effector are corrected to obtain the sixth coordinate parameter of the image capture taken by the robotic arm end effector at this installation point; the sixth coordinate parameter is calculated as follows: Wherein, R6 is the sixth attitude parameter; D6 is the sixth coordinate parameter; R1 is the first attitude parameter; and D1 is the first coordinate parameter.

6. The method for correcting the pose of the robotic arm of a photovoltaic module installation robot according to claim 1, characterized in that, The method for controlling the robotic arm's end effector to stop at the installation point or move to the corrected photographic pose based on the relationship between the corrected photographic pose and the set attitude and coordinate thresholds is as follows: When the difference between the sixth posture parameter and the first posture parameter is less than or equal to the set posture threshold, the end effector of the robotic arm is controlled to stop at the installation point; when the difference between the sixth posture parameter and the first posture parameter is greater than the set posture threshold, the end effector of the robotic arm is controlled to move to the corrected shooting position and the corrected shooting posture.

7. The method for correcting the pose of the robotic arm of a photovoltaic module installation robot according to claim 1, characterized in that, The first posture parameters and the first coordinate parameters are obtained by acquiring the current angle data of each joint of the robotic arm; the third posture parameters and the fifth posture parameters are measured by the gyroscope set on the photovoltaic module installation robot; the second posture parameters, the fourth posture parameters, the second coordinate parameters, and the fourth coordinate parameters are measured by the lidar.

8. The method for correcting the pose of the robotic arm of a photovoltaic module installation robot according to claim 1, characterized in that, To ensure the time consistency of data collected by the lidar, gyroscope, and image acquisition device, the data processing system adopts a unified triggering mechanism and timestamp recording method to synchronously sample and fuse the lidar, gyroscope, and image acquisition device. When performing pose correction for the image acquisition device, the system performs shortest path planning and static obstacle avoidance control based on the structural constraints of the robotic arm to ensure that the robotic arm can stably reach the target position in a complex environment.

9. A photovoltaic module installation robot, characterized in that, include: A walking platform, comprising a chassis with a tracked system or a wheeled system, for supporting and driving a robot to move in complex terrain; A robotic arm, which controls an image acquisition device to take pictures at a target location and has six degrees of freedom of movement. An image acquisition device is installed at the end of the robotic arm of the photovoltaic module installation robot to acquire the pose of the photovoltaic module installation position on the photovoltaic bracket; Attitude sensors, including a three-axis gyroscope for determining the attitude of the walking platform and a lidar for determining the position of the support. A data processing system includes a storage medium and a processor for storage and computation. The storage medium stores a computer program. The storage medium stores the image capture pose parameters of the robotic arm end effector, the posture parameters of the photovoltaic module installation robot, and the pose parameters of the support. The computer program is read and executed by the processor to implement the pose correction method for the robotic arm of the photovoltaic module installation robot as described in any one of claims 1-8.

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