A method, apparatus, equipment and medium for generating photovoltaic panel installation trajectory

Abstract

This invention discloses a method, apparatus, device, and medium for generating photovoltaic (PV) panel installation trajectories. The method includes: acquiring trajectory parameters of a target PV panel and calculating pose parameters of the target PV panel based on the trajectory parameters; generating a trajectory to be corrected that matches the target PV panel based on the pose parameters; acquiring position data of the target PV panel through a target device and performing anti-collision correction on the trajectory to be corrected based on the position data to obtain the target execution trajectory. Through the technical solution of this invention, the generation of PV panel installation trajectories can be realized, reducing the generation cost while improving the generation efficiency, and ensuring the accuracy and flexibility of the generated trajectory results.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel installation, and in particular to a method, apparatus, equipment and medium for generating photovoltaic panel installation tracks. Background Technology

[0002] A photovoltaic panel installation robot is a robotic system that can automatically or semi-automatically perform tasks during the installation of photovoltaic panels in a photovoltaic power station. As the scale of photovoltaic power station construction expands, the demand for automated installation is increasing. Trajectory generation, as the core link of automated installation, directly determines the robot's grasping accuracy and work efficiency. Existing technologies still have significant shortcomings in this aspect.

[0003] Currently, the generation of photovoltaic panel installation trajectories mainly relies on two technical approaches: one is a fully automated perception scheme based on LiDAR or visual cameras, which uses 3D scanning or image capture for point cloud matching and feature recognition, combined with coordinate transformation and path planning algorithms to achieve unmanned trajectory generation; the other is a manual teaching scheme based on fixed parameters, where operators pre-set path points, and the system repeatedly executes the preset trajectory. Both of these approaches face problems of high cost, low efficiency, and poor accuracy and flexibility in practical applications.

[0004] Specifically, fully automated solutions based on visual perception require high-precision laser sensors or industrial cameras, resulting in high hardware costs and complex system calibration and maintenance. Under complex conditions, such as light reflection, panel misalignment, or dust obstruction, the perception system is prone to failure, leading to trajectory failure or insufficient accuracy, requiring frequent manual intervention and further increasing operating costs. While manual teaching solutions based on fixed parameters reduce hardware investment, they require repeated teaching for different sized photovoltaic panels, exhibiting poor adaptability, long changeover cycles, and low efficiency. Furthermore, the teaching process relies on operator experience, making trajectory consistency difficult to guarantee and causing significant fluctuations in installation accuracy. In addition, existing technologies generally lack a "human-in-the-loop" mechanism, failing to effectively integrate human experience for real-time trajectory correction. When environmental changes or manufacturing errors cause automatically generated trajectories to deviate from actual requirements, the system lacks flexibility and struggles to respond and adjust quickly.

[0005] In summary, existing methods for generating photovoltaic panel installation tracks suffer from high generation costs, low generation efficiency, and poor accuracy and flexibility in the generated track results. Summary of the Invention

[0006] This invention provides a method, apparatus, equipment, and medium for generating photovoltaic panel installation tracks, which can solve the problems of high generation cost, low generation efficiency, and poor accuracy and flexibility of existing photovoltaic panel installation track generation methods.

[0007] In a first aspect, embodiments of the present invention provide a method for generating photovoltaic panel installation tracks, the method comprising: The trajectory parameters of the target photovoltaic panel are obtained, and the pose parameters of the target photovoltaic panel are calculated based on the trajectory parameters. Generate a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters; The target device acquires the location data of the target photovoltaic panel, and the trajectory to be corrected is corrected for collision prevention based on the location data to obtain the target execution trajectory.

[0008] Secondly, embodiments of the present invention provide a device for generating photovoltaic panel installation paths, the device comprising: The pose parameter calculation module is used to obtain the trajectory parameters of the target photovoltaic panel and calculate the pose parameters of the target photovoltaic panel based on the trajectory parameters. A trajectory generation module is used to generate a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters; The trajectory correction module is used to acquire the position data of the target photovoltaic panel through the target device, and to perform anti-collision correction on the trajectory to be corrected based on the position data to obtain the target execution trajectory.

[0009] Thirdly, embodiments of the present invention provide an electronic device, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform a method for generating a photovoltaic panel installation trajectory according to any embodiment of the present invention.

[0010] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute a method for generating a photovoltaic panel installation trajectory as described in any embodiment of the present invention.

[0011] The technical solution of this invention obtains the trajectory parameters of the target photovoltaic panel, calculates the pose parameters of the target photovoltaic panel based on the trajectory parameters, generates a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters, and finally obtains the position data of the target photovoltaic panel through the target device, and performs anti-collision correction on the trajectory to be corrected based on the position data to obtain the target execution trajectory. This solves the problems of high trajectory generation cost, low trajectory generation efficiency, and poor accuracy and flexibility of the generated trajectory results in existing photovoltaic panel installation trajectory generation methods. It realizes the generation of photovoltaic panel installation trajectories, reduces the generation cost of photovoltaic panel installation trajectories, improves the generation efficiency of photovoltaic panel installation trajectories, and ensures the accuracy and flexibility of the generated trajectory results.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart of a method for generating a photovoltaic panel installation trajectory according to Embodiment 1 of the present invention; Figure 2 This is a flowchart of a method for generating a photovoltaic panel installation trajectory according to Embodiment 2 of the present invention; Figure 3 This is a schematic diagram of a photovoltaic panel installation trajectory generation device according to Embodiment 3 of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device that implements a method for generating a photovoltaic panel installation trajectory according to an embodiment of the present invention. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0016] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, any variations of the terms "comprising" and "having" are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] Example 1 Figure 1 This is a flowchart of a method for generating a photovoltaic panel installation trajectory according to Embodiment 1 of the present invention. This embodiment is applicable to situations where an excavator equipped with a photovoltaic panel installation robot is used as the target device to generate the installation trajectory of the photovoltaic panel. The method can be executed by a photovoltaic panel installation trajectory generation device, which can be implemented in hardware and / or software. The photovoltaic panel installation trajectory generation device can be configured in an excavator terminal with photovoltaic panel installation trajectory generation function.

[0018] like Figure 1 As shown, the method includes: S110. Obtain the trajectory parameters of the target photovoltaic panel, and calculate the pose parameters of the target photovoltaic panel based on the trajectory parameters.

[0019] The trajectory parameters include: the geometric dimensions of the target photovoltaic panel, the height of the front column of the photovoltaic support, the height of the rear column of the photovoltaic support, the horizontal distance between the front and rear columns, and motion constraints. Specifically, the geometric dimensions of the target photovoltaic panel refer to its length, width, and thickness, used to characterize the physical contour features of the panel to be installed. The heights of the front and rear columns are the vertical heights of the support columns on both sides of the support, used to determine the spatial tilt of the installation plane. The horizontal distance between the front and rear columns is the horizontal projection distance between the front and rear columns. The motion constraints include: preset installation distance and panel spacing, maximum speed limits, maximum acceleration limits, and mechanical limit ranges for each joint during the photovoltaic panel installation robot's movement, used to ensure the executability and safety of the trajectory planning.

[0020] The calculation of the pose parameters of the target photovoltaic panel based on the trajectory parameters includes: obtaining the height H of the front column of the photovoltaic support in the trajectory parameters. A The height H of the rear column of the photovoltaic support B and the horizontal distance D between the front and rear columnsAB Based on formula The tilt angle of the mounting plane of the target photovoltaic panel was calculated. The pose parameters are generated based on the tilt angle of the mounting plane and the trajectory parameters of the target photovoltaic panel.

[0021] For example, suppose a photovoltaic power station operates using a parametric adaptive guidance mode. The operator inputs the following trajectory parameters through a human-machine interface system: photovoltaic panel length L = 2000mm, width W = 1000mm, thickness H = 35mm; and the height H of the front column of the photovoltaic support frame. A =2800mm, rear column height H B =2600mm, horizontal distance D between front and rear columns AB =3000mm; Motion constraints are set as follows: maximum velocity v=0.5m / s, maximum acceleration a=1.0m / s². 2 The system first calculates the tilt angle of the installation plane. =3.81°, and then combined with the photovoltaic panel geometry and motion constraints in the trajectory parameters, a complete pose parameter including the installation plane tilt angle, photovoltaic panel geometry, preset installation distance and panel spacing is generated, providing an accurate spatial reference for subsequent trajectory planning.

[0022] S120. Generate a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters.

[0023] The process of generating a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters includes: acquiring the joint parameters of the installation robot of the target device; processing the pose parameters and joint parameters through a pre-trained DH parameter model and forward kinematics calculation to obtain the coordinates of the gripping point, the coordinates of the placement point, and the attitude angle of the target photovoltaic panel; and processing the coordinates of the gripping point, the coordinates of the placement point, and the attitude angle using a polynomial interpolation algorithm based on preset motion constraints to obtain the trajectory to be corrected.

[0024] Furthermore, the joint parameters refer to the real-time state variables of each moving joint of the robot, including the current angle, angular velocity and joint encoder feedback value of each joint, which are used to characterize the instantaneous configuration of the robot's actuator.

[0025] The DH parameter model is a standard modeling method for describing the geometric relationship of robot links. It establishes the transformation relationship between the coordinate systems of adjacent links through four parameters: link length, link torsion angle, joint distance, and joint rotation angle. The forward kinematics solution is the process of mapping joint space variables to Cartesian space variables based on this model, which is used to calculate the pose of the end effector in the base coordinate system.

[0026] Specifically, the process of processing the pose parameters and joint parameters through a pre-trained DH parameter model and forward kinematics calculation includes: reading the real-time angle values ​​of each joint in the joint parameters and constructing the total transformation matrix of the current configuration in combination with the DH parameter table; converting the target position coordinates and attitude angles in the pose parameters into homogeneous transformation matrix form; calculating the precise coordinates of the grasping point in the robot's base coordinate system through coordinate transformation relationships; simultaneously calculating the coordinates of the placement point and generating a transition point as an intermediate safe position to avoid potential interference during the movement process.

[0027] Furthermore, the polynomial interpolation algorithm is a mathematical method for generating continuous and smooth trajectory curves between discrete critical path points. Preferably, a fifth-order polynomial interpolation algorithm is used to ensure that the position, velocity, and acceleration of the trajectory are continuous, thereby avoiding impacts and jitters during robot movement.

[0028] Those skilled in the art should understand that, given the pose parameters and joint parameters, the methods of processing the pose parameters and joint parameters using the DH parameter model and forward kinematics to obtain the coordinates of the grasping point, the placement point, and the attitude angle of the target photovoltaic panel, as well as the method of generating motion trajectory using polynomial interpolation, are all mature existing technologies. This embodiment only introduces the method steps here, and does not elaborate on the specific calculation methods and principles.

[0029] S130. Obtain the position data of the target photovoltaic panel through the target device, and perform anti-collision correction on the trajectory to be corrected based on the position data to obtain the target execution trajectory.

[0030] In this embodiment, the target device may specifically be an excavator equipped with a robot.

[0031] The process of performing anti-collision correction on the trajectory to be corrected based on the location data to obtain the target execution trajectory includes: acquiring the device motion bounding box of the target device and environmental data, wherein the environmental data includes at least one environmental device; determining whether the target photovoltaic panel interferes with at least one environmental device in the environmental data based on the trajectory to be corrected, the location data, and the device motion bounding box of the target device; if so, generating collision alerts based on each environmental device interfering with the target photovoltaic panel, so that the operator can generate correction instructions based on the collision alerts; and, in response to receiving the correction instructions, superimposing the correction instructions onto the trajectory to be corrected to obtain the target execution trajectory.

[0032] Furthermore, the device motion enclosure box refers to the smallest cuboid or cylindrical geometric model that encloses the outer contour of the robot's linkages and gripper attachments, used to simplify the spatial occupancy description of complex mechanical structures and improve collision detection calculation efficiency; the environmental data includes the spatial location information of installed photovoltaic panels, photovoltaic support structures, ground obstacles, and workspace boundaries; the environmental devices specifically refer to installed photovoltaic panel arrays, support columns, beams, and other fixed facilities.

[0033] Specifically, determining whether the target photovoltaic panel interferes with at least one environmental device in the environmental data based on the trajectory to be corrected, the position data, and the bounding box of the target device includes: discretizing the trajectory to be corrected into a series of time sampling points; calculating the real-time pose of each link and gripper attachment of the robot at each sampling point based on the forward kinematics of the joint parameters; performing a spatial intersection test between the bounding box of the device and the geometric model of the environmental device at each sampling point; if the bounding box of the device overlaps with the environmental device at any sampling point, it is determined that there is a risk of interference, and the time interval, spatial location, and environmental device identification involved in the interference are recorded.

[0034] Optionally, the generation of collision alerts based on the various environmental devices interfering with the target photovoltaic panel includes: highlighting the interference area in the visualization interface of the human-computer interaction system and marking the collision risk points using red flashing or semi-transparent overlay; displaying interference details in the interface information bar, including the type of interfering environmental device, the distance threshold exceeding the limit, and the suggested correction direction; and simultaneously triggering an audible and visual alarm signal to prompt the operator to intervene.

[0035] Furthermore, the correction instruction is a spatial pose fine-tuning amount input by the operator through the human-computer interaction system; the step of superimposing the correction instruction onto the trajectory to be corrected includes: converting the correction instruction into a homogeneous transformation matrix form, performing matrix multiplication superposition with the critical path points of the trajectory to be corrected, recalculating the trajectory curve and verifying joint limits, and generating the target execution trajectory.

[0036] Optionally, after performing anti-collision correction on the trajectory to be corrected based on the location data to obtain the target execution trajectory, the method further includes: obtaining a pre-configured fine-tuning instruction, wherein the fine-tuning instruction is a three-dimensional offset vector input by the operator; and using the fine-tuning instruction to perform a homogeneous transformation matrix superposition operation on the target execution trajectory to obtain the final execution trajectory.

[0037] Specifically, the three-dimensional offset vector refers to the compensation amount input by the operator before final execution, which is used to correct systematic deviations caused by uneven ground, base tilt, or manufacturing errors; the homogeneous transformation matrix superposition operation expands the three-dimensional offset vector into a 4×4 homogeneous transformation matrix, multiplies it with the pose matrix of the target execution trajectory, and outputs the final execution trajectory.

[0038] The technical solution of this invention obtains the trajectory parameters of the target photovoltaic panel, calculates the pose parameters of the target photovoltaic panel based on the trajectory parameters, generates a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters, and finally obtains the position data of the target photovoltaic panel through the target device, and performs anti-collision correction on the trajectory to be corrected based on the position data to obtain the target execution trajectory. This solves the problems of high trajectory generation cost, low trajectory generation efficiency, and poor accuracy and flexibility of the generated trajectory results in existing photovoltaic panel installation trajectory generation methods. It realizes the generation of photovoltaic panel installation trajectories, reduces the generation cost of photovoltaic panel installation trajectories, improves the generation efficiency of photovoltaic panel installation trajectories, and ensures the accuracy and flexibility of the generated trajectory results.

[0039] Example 2 Figure 2 This is a flowchart of a method for generating a photovoltaic panel installation trajectory according to Embodiment 2 of the present invention. This embodiment is a refinement based on the above embodiment. Specifically, this embodiment refines the method for obtaining the location data of the target photovoltaic panel through the target device.

[0040] like Figure 2 As shown, the method includes: S210. Obtain the trajectory parameters of the target photovoltaic panel, and calculate the pose parameters of the target photovoltaic panel based on the trajectory parameters.

[0041] S220. Generate a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters.

[0042] S230. Based on the reference points preset in the target device, establish a target coordinate system that matches the target device.

[0043] The reference point refers to a pre-marked reference position on the robot base. In this embodiment, the intersection of the rotation center of the target photovoltaic panel and the base plane can be selected as the origin of the coordinate system. The target coordinate system is a right-handed rectangular coordinate system established with the reference point as the origin, the robot's forward direction as the positive X-axis, the left direction perpendicular to the X-axis in the horizontal plane as the positive Y-axis, and the vertical upward direction as the positive Z-axis. It is used to uniformly describe the spatial position of each point during the robot's movement. The specific position of the reference point can be set and modified by the operator according to the actual implementation scenario. This embodiment does not limit it.

[0044] S240. In response to the operator's setting operation, edge feature points are set on each edge of the target photovoltaic panel.

[0045] The edge feature points include: left edge point, right edge point, top edge point, and bottom edge point.

[0046] Furthermore, the setting operation refers to the teaching instruction triggered by the operator through the human-computer interaction system, including confirmation by the handle button or clicking on the interface; the edge feature points refer to the contact marking points used to mark the planar contour of the photovoltaic panel, including: left edge point, right edge point, front edge point and back edge point; specifically, the left edge point and right edge point are located on the two sides of the width direction of the photovoltaic panel, respectively, and are used to determine the size range in the X direction; the front edge point and back edge point are located on the two sides of the length direction of the photovoltaic panel, respectively, and are used to determine the size range in the Y direction.

[0047] S250. The installation robot of the target device touches each edge feature point to obtain the edge coordinates of each edge feature point in the target coordinate system.

[0048] The edge coordinates include: left edge coordinate X left Right edge coordinate X right Front edge coordinate Y left and the rear edge coordinate Y right .

[0049] In one specific implementation scenario of this embodiment, when the installation robot contacts an edge feature point, it automatically records the position coordinates of the current end effector in the target coordinate system and extracts the components of the corresponding axis as the edge coordinate values ​​of the edge feature point.

[0050] S260, Based on the formula: as well as The geometric center (x) of the target photovoltaic panel is calculated. c ,y c ).

[0051] S270. In response to the operator's setting operation, a feature point is set on the upper surface of the target photovoltaic panel, and the upper feature point is obtained by the installation robot of the target equipment touching the feature point in the target coordinate system.

[0052] S280. Combining the coordinates of the plane's geometric center and the upper edge, the position data of the target photovoltaic panel is obtained.

[0053] S290. Based on the location data, perform anti-collision correction on the trajectory to be corrected to obtain the target execution trajectory.

[0054] The technical solution of this invention involves acquiring the trajectory parameters of a target photovoltaic panel, calculating its pose parameters based on these parameters, generating a corrected trajectory matching the target photovoltaic panel based on these pose parameters, and establishing a target coordinate system matching the target device based on pre-set reference points in the target device. Responding to operator commands, edge feature points are set on each edge of the target photovoltaic panel, and the installation robot of the target device touches each edge feature point to obtain its edge coordinates in the target coordinate system. Finally, the planar geometry of the target photovoltaic panel is calculated using a formula. The system centers on the target photovoltaic panel and, in response to operator commands, sets feature points on the upper surface of the target photovoltaic panel. The installation robot of the target device then touches these feature points to obtain their upper edge coordinates in the target coordinate system. Combining the planar geometric center and the upper edge coordinates, the position data of the target photovoltaic panel is obtained. Finally, based on the position data, anti-collision correction is applied to the trajectory to be corrected to obtain the target execution trajectory. This process generates the photovoltaic panel installation trajectory, reducing the generation cost while improving the generation efficiency, and ensuring the accuracy and flexibility of the generated trajectory results.

[0055] Example 3 Figure 3 This is a schematic diagram of a photovoltaic panel installation trajectory generation device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: The pose parameter calculation module 310 is used to obtain the trajectory parameters of the target photovoltaic panel and calculate the pose parameters of the target photovoltaic panel based on the trajectory parameters. The trajectory generation module 320 is used to generate a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters; The trajectory correction module 330 is used to obtain the position data of the target photovoltaic panel through the target device, and perform anti-collision correction on the trajectory to be corrected based on the position data to obtain the target execution trajectory.

[0056] The technical solution of this invention obtains the trajectory parameters of the target photovoltaic panel, calculates the pose parameters of the target photovoltaic panel based on the trajectory parameters, generates a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters, and finally obtains the position data of the target photovoltaic panel through the target device, and performs anti-collision correction on the trajectory to be corrected based on the position data to obtain the target execution trajectory. This solves the problems of high trajectory generation cost, low trajectory generation efficiency, and poor accuracy and flexibility of the generated trajectory results in existing photovoltaic panel installation trajectory generation methods. It realizes the generation of photovoltaic panel installation trajectories, reduces the generation cost of photovoltaic panel installation trajectories, improves the generation efficiency of photovoltaic panel installation trajectories, and ensures the accuracy and flexibility of the generated trajectory results.

[0057] Based on the above embodiments, the pose parameter calculation module 310 includes: The parameter acquisition unit is used to acquire the height H of the front column of the photovoltaic support in the trajectory parameters. A The height H of the rear column of the photovoltaic support B and the horizontal distance D between the front and rear columns AB ; .

[0058] Inclination calculation unit, used for formula-based calculation The tilt angle of the mounting plane of the target photovoltaic panel was calculated. ; The pose calculation unit is used to generate the pose parameters based on the tilt angle of the mounting plane and the trajectory parameters of the target photovoltaic panel.

[0059] Based on the above embodiments, the trajectory generation module 320 includes: The joint parameter acquisition unit is used to acquire the joint parameters of the robot used to install the target device. The pose processing unit is used to process the pose parameters and joint parameters through a pre-trained DH parameter model and forward kinematics calculation to obtain the coordinates of the grasping point, the placement point, and the attitude angle of the target photovoltaic panel. The trajectory generation unit is used to process the coordinates of the grab point, the coordinates of the placement point, and the attitude angle based on preset motion constraints using a polynomial interpolation algorithm to obtain the trajectory to be corrected.

[0060] Based on the above embodiments, the trajectory correction module 330 includes: The coordinate system establishment unit is used to establish a target coordinate system that matches the target device based on a pre-set reference point in the target device. An edge feature point setting unit is used to set edge feature points on each edge of the target photovoltaic panel in response to the setting operation of the operator. The edge feature points include: left edge point, right edge point, top edge point and bottom edge point. The edge coordinate acquisition unit is used to obtain the edge coordinates of each edge feature point in the target coordinate system by having the installation robot of the target device touch each edge feature point respectively. The edge coordinates include: left edge coordinate X. left Right edge coordinate X right Y-coordinate of the front edge left and the rear edge coordinate Y right ; Central computing unit, used for formula-based calculations: as well as The geometric center (x) of the target photovoltaic panel is calculated. c ,y c ); The upper feature point setting unit is used to set upper feature points on the upper surface of the target photovoltaic panel in response to the setting operation of the operator, and obtain the upper edge coordinates of the upper feature points in the target coordinate system by touching the upper feature points by the installation robot of the target equipment. The location data combining unit is used to combine the coordinates of the planar geometric center and the upper edge to obtain the location data of the target photovoltaic panel.

[0061] Based on the above embodiments, the trajectory correction module 330 includes: A data acquisition unit is used to acquire the device motion bounding box of the target device and environmental data, wherein the environmental data includes at least one environmental device. An interference judgment unit is used to determine whether the target photovoltaic panel interferes with at least one environmental device in the environmental data based on the trajectory to be corrected, the position data, and the device motion bounding box of the target device. A collision alert unit is used to generate a collision alert based on each environmental device that interferes with the target photovoltaic panel if a collision occurs, so that the operator can generate a correction command based on the collision alert; The instruction overlay unit is used to overlay the correction instruction onto the trajectory to be corrected in response to the receipt of the correction instruction, so as to obtain the target execution trajectory.

[0062] Based on the above embodiments, the trajectory correction module 330 is further configured to: perform anti-collision correction on the trajectory to be corrected based on the position data, and after obtaining the target execution trajectory, obtain a pre-configured fine-tuning instruction, wherein the fine-tuning instruction is a three-dimensional offset vector input by the operator; and use the fine-tuning instruction to perform a homogeneous transformation matrix superposition operation on the target execution trajectory to obtain the final execution trajectory.

[0063] The photovoltaic panel installation trajectory generation device provided in this embodiment of the invention can execute the photovoltaic panel installation trajectory generation method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0064] Example 4 Figure 4 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0065] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0066] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0067] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a method for generating photovoltaic panel installation traces.

[0068] Accordingly, the method includes: The trajectory parameters of the target photovoltaic panel are obtained, and the pose parameters of the target photovoltaic panel are calculated based on the trajectory parameters. Generate a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters; The target device acquires the location data of the target photovoltaic panel, and the trajectory to be corrected is corrected for collision prevention based on the location data to obtain the target execution trajectory.

[0069] In some embodiments, a method for generating photovoltaic panel mounting traces may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for generating photovoltaic panel mounting traces described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a method for generating photovoltaic panel mounting traces by any other suitable means (e.g., by means of firmware).

[0070] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0071] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0072] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0073] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0074] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0075] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0076] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

Claims

1. A method for generating a photovoltaic panel installation trajectory, executed by a target device equipped with an installation robot, characterized in that, include: The trajectory parameters of the target photovoltaic panel are obtained, and the pose parameters of the target photovoltaic panel are calculated based on the trajectory parameters. Generate a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters; The target device acquires the location data of the target photovoltaic panel, and the trajectory to be corrected is corrected for collision prevention based on the location data to obtain the target execution trajectory.

2. The method according to claim 1, characterized in that, The trajectory parameters include: the geometric dimensions of the target photovoltaic panel, the height of the front column of the photovoltaic support, the height of the rear column of the photovoltaic support, the horizontal distance between the front and rear columns, and motion constraints.

3. The method according to any one of claims 1-2, characterized in that, The pose parameters of the target photovoltaic panel are calculated based on the trajectory parameters, including: Obtain the height H of the front column of the photovoltaic support in the trajectory parameters. A The height H of the rear column of the photovoltaic support B and the horizontal distance D between the front and rear columns AB ; Based on formula The tilt angle of the mounting plane of the target photovoltaic panel was calculated. ; The pose parameters are generated based on the tilt angle of the mounting plane and the trajectory parameters of the target photovoltaic panel.

4. The method according to any one of claims 1-2, characterized in that, Generate a trajectory to be corrected based on the pose parameters and matching the target photovoltaic panel, including: Obtain the joint parameters of the robot used to install the target device; The pose parameters and joint parameters are processed by a pre-trained DH parameter model and forward kinematics calculation to obtain the coordinates of the grasping point, the placement point, and the attitude angle of the target photovoltaic panel. Based on preset motion constraints, a polynomial interpolation algorithm is used to process the coordinates of the grab point, the coordinates of the placement point, and the attitude angle to obtain the trajectory to be corrected.

5. The method according to claim 1, characterized in that, The location data of the target photovoltaic panel is obtained through the target device, including: Based on the reference points pre-set in the target device, establish a target coordinate system that matches the target device; In response to the operator's settings, edge feature points are set on each edge of the target photovoltaic panel, including: left edge point, right edge point, top edge point, and bottom edge point; The installation robot of the target device touches each edge feature point to obtain the edge coordinates of each edge feature point in the target coordinate system. The edge coordinates include: the left edge coordinate X. left Right edge coordinate X right Front edge coordinate Y left and the rear edge coordinate Y right ; Based on the formula: as well as The geometric center (x) of the target photovoltaic panel is calculated. c ,y c ); In response to the operator's set operation, feature points are set on the upper surface of the target photovoltaic panel, and the upper feature points are obtained by the installation robot of the target equipment touching the feature points in the target coordinate system. By combining the coordinates of the planar geometric center and the upper edge, the position data of the target photovoltaic panel is obtained.

6. The method according to claim 1, characterized in that, Based on the location data, collision avoidance correction is performed on the trajectory to be corrected to obtain the target execution trajectory, including: Acquire the device motion bounding box and environmental data of the target device, wherein the environmental data includes at least one environmental device; Based on the trajectory to be corrected, the location data, and the bounding box of the target device's motion, determine whether the target photovoltaic panel interferes with at least one environmental device in the environmental data; If such a collision occurs, a collision alert is generated based on each environmental device that interferes with the target photovoltaic panel, so that the operator can generate a correction command based on the collision alert. In response to the receipt of the correction instruction, the correction instruction is superimposed on the trajectory to be corrected to obtain the target execution trajectory.

7. The method according to claim 1, characterized in that, After performing anti-collision correction on the trajectory to be corrected based on the location data to obtain the target execution trajectory, the method further includes: Obtain pre-configured fine-tuning instructions, which are three-dimensional offset vectors input by the operator; The fine-tuning instructions are used to perform a homogeneous transformation matrix superposition operation on the target execution trajectory to obtain the final execution trajectory.

8. A device for generating photovoltaic panel installation trajectories, executed by a target device equipped with an installation robot, characterized in that, include: The pose parameter calculation module is used to obtain the trajectory parameters of the target photovoltaic panel and calculate the pose parameters of the target photovoltaic panel based on the trajectory parameters. A trajectory generation module is used to generate a trajectory to be corrected that matches the target photovoltaic panel based on the pose parameters; The trajectory correction module is used to acquire the position data of the target photovoltaic panel through the target device, and to perform anti-collision correction on the trajectory to be corrected based on the position data to obtain the target execution trajectory.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a method for generating a photovoltaic panel installation trajectory according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement a method for generating a photovoltaic panel installation trajectory according to any one of claims 1-7.

Images