Photovoltaic module installation method and system

Abstract

Embodiments of the present disclosure provide photovoltaic module installation systems and methods, wherein a photovoltaic module installation system comprises a first robotic arm, a second robotic arm, and a controller. The first robotic arm comprises a pneumatic gripper and a pneumatic suction cup, and is configured to handle a structural keel and a photovoltaic panel of a photovoltaic module to a predetermined installation location of a building facade within a first time period. The second robotic arm comprises a quick-change tool module selectively connected to a drilling module or a pneumatic screwdriver module, and is configured to perform a drilling operation and a fastening operation at the predetermined installation location within a second time period. The controller is configured to control the first robotic arm and the second robotic arm to work cooperatively, and to cause the first time period and the second time period to at least partially overlap in timing.

Description

Technical Field

[0001] This disclosure relates to the fields of automated construction and robotics, and more specifically, to photovoltaic module installation methods and photovoltaic module installation systems. Background Technology

[0002] Traditional photovoltaic installation solutions for building facades are facing serious challenges due to their reliance on dangerous manual labor and scaffolding, resulting in low installation efficiency, increased installation costs, and safety hazards.

[0003] Furthermore, existing automated photovoltaic (PV) installation solutions suffer from limitations such as dependence on the work surface, wind sensitivity, low effective load capacity, and fragmented workflows. The fragmented workflow can be understood as existing automated PV installation solutions only handling isolated tasks within building facade PV installations, such as drilling. In other words, existing automated PV installation systems cannot achieve end-to-end automated PV installation; manual labor is still required for PV installation stages such as structural frame installation, PV panel handling, or temporary scaffolding erection.

[0004] Therefore, there is currently a lack of photovoltaic installation methods and systems that can solve the above problems, achieve end-to-end automated photovoltaic installation, and integrate automated operations of photovoltaic installation processes such as real-time facade scanning, heavy-duty control, precision drilling, and autonomous assembly under dynamic environmental conditions. Summary of the Invention

[0005] The embodiments of this disclosure provide a photovoltaic module installation method and system that can at least partially solve the above-mentioned technical problems or other problems.

[0006] According to one or more embodiments of this disclosure, a photovoltaic module installation system is provided, comprising: a first robotic arm, a second robotic arm, and a controller; the first robotic arm includes a pneumatic clamp and a pneumatic suction cup, and is configured to transport the structural frame and photovoltaic panel of the photovoltaic module to a predetermined installation position on the exterior of a building during a first time period; the second robotic arm includes a quick-change tool module selectively connected to a drilling module or a pneumatic screwdriver module, and is configured to perform drilling and fastening operations at the predetermined installation position during a second time period; and the controller is configured to control the first robotic arm and the second robotic arm to work together, such that the first time period and the second time period at least partially overlap in timing.

[0007] In some embodiments of this disclosure, the system further includes: a data acquisition module configured to acquire building information model data of the building facade; and a depth sensor located at the wrist of the second robotic arm and configured to acquire in real time three-dimensional visual data of a predetermined installation area of ​​the building facade, wherein the controller is further configured to fuse the three-dimensional visual data with the building information model data to determine information of a predetermined installation position in the predetermined installation area, and to plan real-time dynamic paths for the first robotic arm and the second robotic arm.

[0008] In some embodiments of this disclosure, the information of the predetermined installation location includes: the three-dimensional spatial coordinates of the predetermined installation location; and the drilling depth at which the drilling operation is performed at the predetermined installation location.

[0009] In some embodiments of this disclosure, the controller is also configured to control the quick-change tool module to switch between the drilling module and the pneumatic screwdriver module to perform the following operations: drilling anchor holes at predetermined installation locations using the drilling module; and setting fasteners in the anchor holes using the pneumatic screwdriver module to fix the structural keel to the building facade using the fasteners.

[0010] In some embodiments of this disclosure, the controller is also configured to control the movement of the second robotic arm based on fused 3D visual data and building information model data to align the fasteners with the anchor holes.

[0011] In some embodiments of this disclosure, the system further includes: a structural keel mounting module platform, including adjustable clamping grooves, and configured to accommodate multiple structural keels and maintain the multiple structural keels in a preset arrangement posture.

[0012] In some embodiments of this disclosure, the depth sensor is further configured to: acquire the pose of a first structural keel, the first structural keel being one of a plurality of structural keels maintaining a preset arrangement posture; and the controller is further configured to: compare the pose of the first structural keel with a preset pose determined based on building information model data; and in response to detecting a pose deviation between the pose of the first structural keel and the preset pose, compensate the first robotic arm for grasping the first structural keel based on the pose deviation.

[0013] In some embodiments of this disclosure, the system is mounted on an aerial work platform and further includes: at least one first sensor, including a force / torque sensor and an inertial measurement unit, configured to detect vibrations of the aerial work platform; and a controller further configured to fuse real-time data from at least one first sensor, three-dimensional visual data, and building information model data to dynamically correct the real-time dynamic paths of the first and second robotic arms.

[0014] In some embodiments of this disclosure, the second robotic arm further includes at least one second sensor; and the controller is further configured to adaptively adjust parameters of at least one of the drilling and fastening operations based on real-time data from the at least one second sensor, wherein the at least one second sensor includes a torque sensor.

[0015] According to one or more embodiments of this disclosure, a photovoltaic module installation system is provided. The system includes: a first robotic arm, a second robotic arm, a data acquisition module, a depth sensor, and a controller. The structure of the first robotic arm is different from that of the second robotic arm. The data acquisition module is configured to acquire building information model data of the building facade. The depth sensor is located at the wrist of the second robotic arm and is configured to acquire three-dimensional visual data of a predetermined installation area on the building facade in real time. The controller is configured to fuse the three-dimensional visual data with the building information model data to determine information of a predetermined installation position in the predetermined installation area, and to plan real-time dynamic paths for the first robotic arm and the second robotic arm to install the photovoltaic module at the predetermined installation position.

[0016] In some embodiments of this disclosure, the system is mounted on an aerial work platform and further includes: at least one first sensor, including a force / torque sensor and an inertial measurement unit, configured to detect vibrations of the aerial work platform; and a controller further configured to fuse real-time data from at least one first sensor, three-dimensional visual data, and building information model data to dynamically correct the real-time dynamic paths of the first and second robotic arms.

[0017] In some embodiments of this disclosure, the system is installed on an aerial work platform. The system further includes: a horizontal linear guide rail whose extension direction is parallel to the lateral extension direction of the aerial work platform; and a drive mechanism connected to the horizontal linear guide rail; wherein the first robotic arm and the second robotic arm are both mounted on the horizontal linear guide rail; and the controller is further configured to control the operation of the drive mechanism to drive the first robotic arm and the second robotic arm to move synchronously along the horizontal linear guide rail.

[0018] According to one or more embodiments of this disclosure, this disclosure provides a photovoltaic module installation method, the method comprising: transporting the structural frame and photovoltaic panel of the photovoltaic module to a predetermined installation position on the exterior of a building within a first time period using a pneumatic clamp and a pneumatic suction cup of a first robotic arm; performing drilling and fastening operations at the predetermined installation position within a second time period using a quick-change tool module of a second robotic arm, wherein the quick-change tool module selectively connects a drilling module and a pneumatic screwdriver module; and controlling the first robotic arm and the second robotic arm to work together via a controller, such that the first time period and the second time period at least partially overlap in time sequence.

[0019] In some embodiments of this disclosure, the method further includes: acquiring building information model data of the building facade through a data acquisition module; acquiring three-dimensional visual data of a predetermined installation area of ​​the building facade in real time through a depth sensor located on the wrist of the second robotic arm; and fusing the three-dimensional visual data with the building information model data through a controller to determine information on the predetermined installation position located in the predetermined installation area, and planning real-time dynamic paths for the first robotic arm and the second robotic arm.

[0020] In some embodiments of this disclosure, the information of the predetermined installation location includes: the three-dimensional spatial coordinates of the predetermined installation location; and the drilling depth at which the drilling operation is performed at the predetermined installation location.

[0021] In some embodiments of this disclosure, performing drilling and fastening operations at a predetermined installation position during a second time period using the quick-change tool module of the second robotic arm includes: controlling the quick-change tool module to switch between a drilling module and a pneumatic screwdriver module; drilling anchor holes at the predetermined installation position using the drilling module; and setting fasteners in the anchor holes using the pneumatic screwdriver module to fix the structural keel to the building facade using the fasteners.

[0022] In some embodiments of this disclosure, setting fasteners into anchor holes using a pneumatic screwdriver module includes: controlling the movement of a second robotic arm based on fused 3D visual data and building information model data to align the fasteners with the anchor holes.

[0023] In some embodiments of this disclosure, the method further includes: accommodating multiple structural keels and maintaining the multiple structural keels in a preset arrangement posture through an adjustable clamping groove of the structural keel mounting module platform.

[0024] In some embodiments of this disclosure, the method further includes: acquiring the pose of a first structural keel through a depth sensor, the first structural keel being one of a plurality of structural keels maintaining a preset arrangement posture; comparing the pose of the first structural keel with a preset pose determined based on building information model data through a controller; and in response to detecting a pose deviation between the pose of the first structural keel and the preset pose, the controller compensating for the grasping pose of the first robotic arm grasping the first structural keel based on the pose deviation.

[0025] In some embodiments of this disclosure, the method is applied to a photovoltaic installation system installed on an aerial work platform. The method further includes: detecting vibration of the aerial work platform by at least one first sensor, wherein the first sensor includes a force / torque sensor and an inertial measurement unit; and fusing real-time data, three-dimensional visual data and building information model data from at least one first sensor by a controller to dynamically correct the real-time dynamic paths of the first robotic arm and the second robotic arm.

[0026] In some embodiments of this disclosure, the method further includes: acquiring real-time data via at least one second sensor of the second robotic arm, wherein the at least one second sensor includes a torque sensor; and the controller adaptively adjusting parameters of at least one of the drilling operation and the fastening operation based on the real-time data.

[0027] According to one or more embodiments of this disclosure, a photovoltaic module installation method is provided. This method is applied to a photovoltaic installation system, which includes a first robotic arm and a second robotic arm with different structures, a data acquisition module, a depth sensor, and a controller. The method includes: acquiring building information model data of the building facade through the data acquisition module; acquiring three-dimensional visual data of a predetermined installation area of ​​the building facade in real time through a depth sensor located on the wrist of the second robotic arm; and fusing the three-dimensional visual data with the building information model data through the controller to determine information of a predetermined installation position in the predetermined installation area, and planning a real-time dynamic path for the first robotic arm and the second robotic arm to install the photovoltaic module at the predetermined installation position.

[0028] In some embodiments of this disclosure, the method further includes: detecting vibration of the aerial work platform by at least one first sensor, wherein the first sensor includes a force / torque sensor and an inertial measurement unit; and fusing real-time data, three-dimensional visual data and building information model data from at least one first sensor by a controller to dynamically correct the real-time dynamic paths of the first robotic arm and the second robotic arm. Attached Figure Description

[0029] Other features, objects, and beneficial effects of this disclosure will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. In the drawings: Figure 1 A working scenario diagram of a photovoltaic installation system provided as an exemplary embodiment of this disclosure; Figure 2 A schematic block diagram of a photovoltaic installation system provided as an exemplary embodiment of this disclosure; Figure 3 A schematic diagram of a photovoltaic installation system provided as an exemplary embodiment of this disclosure; Figure 4 A schematic diagram of the structure of a first robotic arm provided as an exemplary embodiment of this disclosure; Figure 5 A schematic diagram of the structure of a second robotic arm provided as an exemplary embodiment of this disclosure; Figure 6 A schematic diagram of the structure of a quick-switch module provided as an exemplary embodiment of this disclosure; Figure 7A structural schematic diagram of a structural keel mounting module platform provided as an exemplary embodiment of this disclosure; Figure 8 A schematic block diagram of another photovoltaic installation system provided as an exemplary embodiment of this disclosure; Figure 9 A flowchart of a photovoltaic installation method provided as an exemplary embodiment of this disclosure; and Figure 10 A flowchart of another photovoltaic installation method provided as an exemplary embodiment of this disclosure.

[0030] Specific methods

[0031] To better understand this disclosure, various aspects of this disclosure will be described in more detail with reference to the accompanying drawings. It should be understood that these detailed descriptions are merely illustrative of exemplary embodiments of this disclosure and are not intended to limit the scope of this disclosure in any way. Throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items.

[0032] It should be noted that in this specification, the terms "first," "second," "third," etc., are used only to distinguish one feature from another and do not imply any limitation on the features, especially not any order of precedence. Therefore, without departing from the teachings of this disclosure, the first robotic arm discussed herein may also be referred to as the second robotic arm, and vice versa.

[0033] In the accompanying drawings, the thickness, dimensions, and shapes of the parts have been slightly adjusted for ease of illustration. The drawings are for illustrative purposes only and are not drawn to scale. As used herein, the terms “approximately,” “about,” and similar terms are used as expressions of approximation, not as expressions of degree, and are intended to illustrate inherent deviations in measured or calculated values ​​that will be recognized by one of ordinary skill in the art.

[0034] It should also be understood that expressions such as "comprising," "including," "having," "containing," and / or "comprising" are open-ended rather than closed-ended expressions in this specification, indicating the presence of the stated features, elements, and / or components, but not excluding the presence of one or more other features, elements, components, and / or combinations thereof. Furthermore, when expressions such as "at least one of..." appear after a list of listed features, they modify the entire list of features, not just individual elements in the list. Additionally, when describing embodiments of this disclosure, the word "may" is used to mean "one or more embodiments of this disclosure." And the term "exemplary" is intended to refer to an example or illustration.

[0035] Unless otherwise specified, all terms used herein (including engineering and technical terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It should also be understood that, unless expressly stated in this disclosure, terms as defined in common dictionaries shall be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or overly formalized meaning.

[0036] It should be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. Furthermore, unless explicitly limited or contradicted by the context, the specific steps included in the methods described in this disclosure are not limited to the order in which they are described, but can be performed in any order or in parallel.

[0037] Furthermore, in this disclosure, the use of "connection" or "linkage" may indicate a direct or indirect connection between the corresponding components, and the use of "contact" may indicate a direct connection between the corresponding components, unless otherwise expressly defined or deduced from the context.

[0038] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] Figure 1 A diagram illustrating the working scenario of a photovoltaic installation system 100 provided by an exemplary embodiment of this disclosure is shown. Figure 2 This is a schematic block diagram of a photovoltaic installation system 100 provided as an exemplary embodiment of the present disclosure. Figure 3 A schematic diagram of the structure of a photovoltaic installation system 100 provided by an exemplary embodiment of the present disclosure is shown. Figure 4 A schematic diagram of the structure of a first robotic arm 101 provided by an exemplary embodiment of the present disclosure is shown. Figure 5 A schematic diagram of the structure of a second robotic arm 103 provided by an exemplary embodiment of the present disclosure is shown. Figure 6 This is a schematic diagram of the structure of a quick-change module 201 provided as an exemplary embodiment of the present disclosure. Figure 7 This is a structural schematic diagram of a structural keel mounting module platform 203 provided as an exemplary embodiment of the present disclosure. Figure 8 A schematic block diagram of another photovoltaic installation system 100 provided as an exemplary embodiment of this disclosure.

[0040] like Figures 1 to 3As shown, embodiments of this disclosure provide a dual-robotic arm collaborative system (hereinafter referred to as the photovoltaic installation system) for photovoltaic (PV) installation on building facades. This photovoltaic installation system can be quickly deployed on various aerial work platforms 40, such as lifts, lifting platforms, and suspended baskets, thereby achieving high-precision and high-efficiency automation of aerial work. The photovoltaic installation system 100 includes two heterogeneous robotic arms 10, one of which is a heavy-duty handling arm 101 (hereinafter referred to as the first robotic arm), and the other is a precision assembly arm 103 (hereinafter referred to as the second robotic arm).

[0041] Specifically, the aerial work platform 40 may include at least one of a scissor lift, a scissor lift, and a suspended platform. The height of the aerial work platform 40 is adjustable and includes a stabilization mechanism, which may include hydraulic outriggers and anti-sway bars, to ensure stable operation of the aerial work platform 40 at height.

[0042] like Figures 1 to 6 As shown, the photovoltaic installation system 100 can be mounted on an aerial work platform 40 and includes a first robotic arm 101, a controller 102, and a second robotic arm 103. The first robotic arm 101 may include a pneumatic suction cup 1013 and a pneumatic clamp 1015, and is configured to transport the structural frame and photovoltaic panels of the photovoltaic modules to a predetermined installation position on the building facade during a first time period. The second robotic arm 103 may include a quick-change tool module 201, which selectively connects to a drilling module 2011 and a pneumatic screwdriver module 2013. The second robotic arm 103 can be configured to perform drilling and fastening operations at the predetermined installation position during a second time period. The controller 102 is configured to control the first robotic arm 101 and the second robotic arm 103 to work collaboratively, ensuring that the first and second time periods at least partially overlap in timing.

[0043] The first robotic arm 101 may include a pneumatic gripper 1015 for handling structural keel and a pneumatic suction cup 1013 for handling photovoltaic panels. The second robotic arm 103 may include a quick-change tool module 201, also known as a quick-change end-of-arm tooling (EOAT), which is an interface device at the wrist of the robotic arm. This allows the robotic arm to automatically and quickly change different tools, including grippers, suction cups, welding torches, screwdrivers, and vision cameras, enabling the robotic arm to perform a variety of precision assembly tasks. Alternatively, the quick-change tool module 201 of the second robotic arm 103 may be selectively connected to a drilling module 2011 and a pneumatic screwdriver module 2013.

[0044] In other words, the photovoltaic installation system provided by the embodiments of this disclosure may include two heterogeneous robotic arms, wherein the heterogeneous robotic arms can be understood as two robotic arms having differentiated structures due to different tasks or uses. The two heterogeneous robotic arms can achieve collaborative operation through task division and realize the automation of high-altitude operations for photovoltaic installation on building facades. The first robotic arm is responsible for transporting photovoltaic panels and structural keel, while the second robotic arm positions the structural keel and performs automated fastening operations. The second robotic arm has a quick-change tool module, thus it can quickly switch between drilling, screw fastening, and suction cup handling operations.

[0045] Furthermore, the highly coordinated and overlapping parallel assembly line operation of two heterogeneous robotic arms eliminates the idle time of "waiting" in traditional photovoltaic installation operations. Additionally, due to the collaborative work of the two robotic arms, all photovoltaic module installation tasks, from facade scanning to final photovoltaic panel fastening, can be completed on an aerial work platform. Therefore, there is no need to erect or rely on temporary scaffolding, nor is manual intervention required. This not only saves on the cost and time of photovoltaic module installation tasks but also reduces the impact on the surrounding environment, making it particularly suitable for dense urban environments.

[0046] Optionally, the photovoltaic installation system provided by the embodiments of this disclosure can be designed for photovoltaic installation on low-rise building facades (e.g., ≤7 floors or ≤20 meters in height), targeting sustainable energy integration in urban renewal projects and new buildings. This photovoltaic installation system not only eliminates the risks of manual high-altitude operations but also improves installation efficiency through optimized load distribution and ensures compatibility with various photovoltaic modules through its modular architecture design.

[0047] In tests of photovoltaic installation systems provided with embodiments of this disclosure, the photovoltaic installation systems provided with embodiments of this disclosure achieved a 45% efficiency improvement through optimized load distribution. Furthermore, this photovoltaic installation system enables rapid deployment across multiple platforms, making it flexible for application in various scenarios within urban environments, from low-rise building retrofits to high-rise building curtain wall installations. This advancement provides a fully automated, safe, and scalable solution for building-integrated photovoltaics, significantly reducing labor costs and operational risks.

[0048] Specifically, in traditional building facade photovoltaic module installation, high-altitude operations such as drilling, structural keel installation, and photovoltaic panel assembly heavily rely on manual labor, posing significant challenges. For example, workers face the risk of falls and environmental hazards during prolonged high-altitude work; furthermore, manual processes are slow, with only 3 to 5 photovoltaic panel installation cycles completed per hour, and rework is frequently necessary due to alignment errors; additionally, high-altitude operations typically require the erection of temporary scaffolding or cranes, especially in densely populated urban areas, increasing both the cost and deployment time of building facade photovoltaic installation.

[0049] In some existing embodiments, cable-suspended robots can be used in the installation of photovoltaic modules on building facades. However, the deployment cost of these robots is high, requiring the installation of high-altitude anchor points and tensioning systems, which demands significant manpower and time. Furthermore, the effective load of building facade photovoltaic installation systems using cable-suspended robots is limited. Due to the structural instability of such systems, they cannot handle excessively heavy components such as photovoltaic panels or steel frames. Additionally, these photovoltaic installation systems have weak wind resistance; platform oscillations under wind loads reduce positioning accuracy, requiring manual recalibration.

[0050] In other existing embodiments, the installation surface of the building facade photovoltaic module installation system using an adsorption robot is limited, and the vacuum adsorption method of the adsorption robot is limited to smooth, non-porous building facades (e.g., glass or metal materials). Therefore, this photovoltaic installation system excludes building facades with textured or composite materials.

[0051] Furthermore, existing automated photovoltaic (PV) installation systems are typically single-function, capable of performing tasks such as drilling or placing PV panels, while the installation and fastening of the structural frame still require manual intervention. In some existing embodiments, these automated PV installation systems focus primarily on indoor automation, but automated drilling robots designed for indoor use lack waterproofing and have relatively limited functionality; most designs can only perform drilling or placing PV panels, while the installation and fastening of the frame still require manual intervention. Additionally, robots focused on indoor automation are unable to adapt to the irregular structures of building facades.

[0052] Therefore, the level of automation in existing automated photovoltaic (PV) installation systems is limited. Even if drilling on the building facade is automated, manual labor is still required for the installation of the keel and PV panels on the building facade. This manual labor still requires the erection of temporary scaffolding and the implementation of safety procedures. In other words, existing automated PV installation systems cannot yet provide an end-to-end automated workflow for PV module installation, such as facade scanning and modeling, precise drilling, heavy-duty handling, and automatic fastening.

[0053] In some embodiments, the structural keel can be a relatively long steel beam, for example, the beam may be 5m long. Furthermore, the photovoltaic panel can be a fragile glass photovoltaic panel, weighing at least 80kg. The photovoltaic installation system provided by embodiments of this disclosure may include two heterogeneous robotic arms, wherein the first robotic arm 101 may be a heavy-duty robotic arm with a multi-axis joint structure and includes pneumatic grippers for handling the structural keel and pneumatic suction cups for handling the photovoltaic panel, thus enabling simultaneous handling of the heavy structural keel and the fragile glass photovoltaic panel. The second robotic arm 103 may be a lightweight, high-precision robotic arm equipped with a modular quick-change tool module. This provides a foundation for achieving an automated end-to-end photovoltaic module installation workflow.

[0054] refer to Figure 3 , Figure 5 and Figure 7 In some embodiments of this disclosure, the photovoltaic module installation system 100 may further include a data acquisition module 104 and a depth sensor 1035. The data acquisition module 104 can be used to acquire Building Information Modeling (BIM) data of the building facade. The depth sensor 1035, also referred to as a depth camera or 3D vision sensor, can be located at the wrist of the second robotic arm 103 and acquires 3D visual data of the predetermined installation area of ​​the building facade in real time. The controller 102 can also be used to fuse the 3D visual data with the BIM data to determine information about the predetermined installation position within the predetermined installation area and plan real-time dynamic paths for the first robotic arm 101 and the second robotic arm 103.

[0055] In other words, the embodiments of this disclosure provide a fusion positioning method that integrates building information modeling (BIM) with real-time scanning data from 3D vision sensors to achieve high-precision digital modeling and real-time positioning of building facades, and to achieve millimeter-level positioning accuracy for dynamic path planning and predetermined installation positions of robotic arms. Alternatively, visual data of the building facade can be captured in real time using 3D vision sensors, and this visual data can be combined with BIM data to generate a high-precision "digital twin" facade model of the building.

[0056] For example, the depth sensor 1035 can use 3D radar technology or structured light technology to collect point cloud data of the building facade in real time to capture the geometry, surface features and subtle deviations of the actual environment.

[0057] Optionally, the information regarding the predetermined installation location may include: the three-dimensional spatial coordinates of the predetermined installation location; and the drilling depth at which drilling operations are performed. In other words, the structural frame of the photovoltaic module needs to be fixed to the predetermined installation location on the building facade. By fusing the building information model with real-time scanning data from a 3D vision sensor, the three-dimensional spatial coordinates of this predetermined installation location can be accurately determined. Thus, the second robotic arm can drill anchor holes at this predetermined installation location and install fasteners within the anchor holes to fix the structural frame to the building facade. During this process, the visual data captured by the depth sensor 1035 can be combined with the building information model data to provide millimeter-level positioning for drilling alignment and drilling depth control.

[0058] Therefore, in some implementations, the combination of a photovoltaic installation system with a heterogeneous robotic arm and a fusion positioning method can achieve high-precision and high-efficiency automation of high-altitude operations, with an assembly accuracy of up to ±0.1mm. This is applicable to various stages of photovoltaic installation on building facades, such as drilling, structural keel installation, and photovoltaic panel installation.

[0059] For example, controller 102 can also control the movement of second robotic arm 103 based on fused 3D visual data and building information model data to align fasteners with anchor holes.

[0060] In addition, combined Figures 2 to 4 , Figure 7 In some embodiments of this disclosure, the photovoltaic installation system 100 may further include a structural keel installation module platform 203. The structural keel installation module platform 203 includes adjustable clamping grooves and can be configured to accommodate multiple structural keels and maintain them in a preset arrangement. For example, Figure 7 The multiple structural keels shown can be used with aerial work platforms 40 (such as...) Figure 1 As shown, they are stacked in a vertical direction (or can be understood as vertical).

[0061] Specifically, the structural keel installation module platform 203 can be a special clamp with laser-guided positioning pins, used to fix the structural keel to the anchor point of the pre-drilled hole on the building facade (which can be understood as the predetermined installation position). The structural keel installation module platform 203 can dock with the suction cup of the first robotic arm 101 to achieve stable transportation.

[0062] The structural keel installation module platform 203 adopts an adjustable clamping groove, which can stably arrange structural keels with a width of 10mm to 200mm and a positional accuracy of ±0.5mm, to ensure that the structural keels are arranged neatly and facilitate the operation of the first robotic arm 101.

[0063] A depth sensor 1035 continuously scans the structural keel and compares its orientation with pre-loaded building information model data, dynamically correcting misalignment before the pneumatic gripper 1015 of the first robotic arm 101 grasps it. After the structural keel is grasped, the pneumatic quick-release mechanism of the first robotic arm 101 immediately releases the pneumatic gripper 1015, achieving seamless workflow continuity and a short reset cycle, for example, less than 2 seconds. This collaborative design eliminates manual sorting errors, can increase photovoltaic installation speed by 40%, and ensures accurate and collision-free keel grasping in various building facade structures.

[0064] Alternatively, the depth sensor 1035 can acquire the pose of the first structural keel, which is one of the multiple structural keels that maintain a preset arrangement posture. The controller 102 can compare the pose of the first structural keel with a preset pose determined based on building information model data; and in response to detecting a pose deviation between the pose of the first structural keel and the preset pose, compensate the first robotic arm 101 for the grasping pose of the first structural keel based on the pose deviation.

[0065] Therefore, the photovoltaic installation system provided in the embodiments of this disclosure may further include a data acquisition module 104 and a depth sensor 1035. The data acquisition module 104 can acquire building information model data of the building facade, and the depth sensor 1035 can acquire three-dimensional visual data of the predetermined installation area of ​​the building facade in real time. Based on the fused three-dimensional visual data and building information model data, the controller 102 can realize real-time three-dimensional reconstruction of complex building surfaces and generate a digital twin model of the building facade with millimeter-level accuracy, thereby realizing real-time path planning and collision avoidance for the robotic arm 10.

[0066] Furthermore, in some implementations, the combination of a photovoltaic installation system equipped with a heterogeneous robotic arm and a fusion positioning method can achieve high-precision and high-efficiency automation of high-altitude operations, with an assembly accuracy of up to ±0.1mm. This is applicable to various stages of photovoltaic installation on building facades, such as drilling, structural keel installation, and photovoltaic panel installation.

[0067] refer to Figures 1 to 3In some embodiments of this disclosure, the photovoltaic installation system 100 may further include at least one first sensor (not shown), which may include a force / torque sensor and an inertial measurement unit (IMU) and is configured to detect vibrations of the aerial work platform 40. The controller 102 may also fuse real-time data from at least one first sensor, three-dimensional visual data, and building information model data to dynamically correct the real-time dynamic paths of the first robotic arm 101 and the second robotic arm 103.

[0068] The fusion of real-time building information model (BIM) data with real-time data from sensors such as force / torque sensors, inertial measurement units (IMUs), and depth sensors allows for adaptation to complex building facade geometries. Furthermore, under dynamic wind conditions, adaptive hole positioning (i.e., anchor hole positioning) can be achieved for structural keel anchor points, enabling automated and precise drilling. For example, IMUs and force / torque sensors can also detect vibrations of the aerial work platform, dynamically adjusting the trajectory of the robotic arm in the photovoltaic installation system to maintain accuracy during structural keel alignment and photovoltaic panel placement. In other words, the photovoltaic installation system provided by the embodiments of this disclosure can achieve wind-compensated control, where IMUs and force / torque sensors can detect swaying of the aerial work platform to dynamically adjust the robotic arm's trajectory, ensuring accuracy during structural keel alignment and photovoltaic panel placement.

[0069] refer to Figure 3 and Figure 4 In some embodiments of this disclosure, the first robotic arm 101 may include a first industrial camera 1011, a pneumatic suction cup 1013, and a pneumatic gripper 1015. The pneumatic suction cup 1013 is used to handle photovoltaic panels. The first industrial camera 1011 may be integrated near the pneumatic suction cup 1013 and the pneumatic gripper 1015. The pneumatic gripper 1015 may be a multi-jaw adaptive gripper equipped with a soft, compliant silicone pad, capable of gripping structural keels of different cross-sectional shapes and materials. Optionally, the cross-sectional shape of the structural keel may include C-grooves, U-grooves, etc. The material of the structural keel may be steel profiles, aluminum profiles, etc. It should be noted that this disclosure does not limit the cross-sectional shape and material of the structural keel.

[0070] Combination Figure 3 , Figure 5 and Figure 6In some embodiments of this disclosure, the quick-change tool module 201 can selectively connect the drilling module 2011 and the pneumatic screwdriver module 2013 via a magnetic coupling mechanism. For example, the quick-change tool module 201 can be a magnetic coupling mechanism on the wrist of the second robotic arm 103, thereby enabling the quick loading and unloading of the quick-change end effector of the second robotic arm 103. For example, through the quick-change tool module 201, the quick-change end effector of the second robotic arm 103 can be switched from the drilling module 2011 to the pneumatic screwdriver module 2013 as needed, and can also be switched from the pneumatic screwdriver module 2013 to the drilling module 2011 as needed.

[0071] For example, the drilling module 2011 may be a concrete drill bit; the pneumatic screwdriver module 2013 may be a screw fastening connector. The concrete drill bit may be a tungsten carbide tip drill bit designed specifically for drilling holes in building facades. The concrete drill bit may have an air-cooling channel to prevent overheating, and laser-guided depth control, wherein the depth control accuracy of the concrete drill bit may be ±0.1 mm.

[0072] For example, the screw fastening connector can be a magnetic quick-connect tool with programmable torque control (e.g., 0-50N). (m) is used for precise screw installation. The depth camera 1035 can automatically align the screw / fastener with the anchor hole. In addition, the screw fastening connector can also have the following characteristics to support high-strength, multi-type screws / fasteners commonly used in photovoltaic installation (e.g., bolts for keel connections, panel fixing screws, etc.) through standardized interfaces (e.g., ISO standard bits) and intelligent adapter technology.

[0073] Optionally, the screw fastening connector can have ISO standard bits to adapt to different types and sizes of screws / fasteners, eliminating the need to change tools when screw / fastener types change and achieving seamless switching. Furthermore, based on fused 3D vision data and building information model data, it can automatically align anchor holes and, combined with programmable torque control, adapt to the fastening needs of different materials such as concrete and steel. Additionally, the screw fastening connector can also have RFID (Radio Frequency Identification) tagged bits. RFID-tagged bits can store corresponding fastener parameters (e.g., torque values), and automatically load the corresponding fastener parameters upon identification. Therefore, the tool change time in the screw fastening connector can be less than 5 seconds, and it is compatible with rapid switching between various fasteners.

[0074] Optionally, the second robotic arm 103 may also include at least one second sensor (not shown), and a controller 102 (such as...) Figure 2(As shown) It can also adaptively adjust at least one of the parameters of the drilling operation and the fastening operation based on real-time data from at least one second sensor, wherein the at least one second sensor may include a torque sensor.

[0075] For example, the second robotic arm 103 can also integrate a torque sensor, which works in conjunction with the concrete drill bit to adjust the drilling speed based on the material hardness (e.g., concrete, brick) at the pre-drilled hole location on the building facade. Furthermore, based on building information model data, it can avoid public facilities already embedded in the building facade during the positioning or adjustment of the pre-drilled hole location.

[0076] Therefore, the photovoltaic installation system provided by the embodiments of this disclosure can quickly perform drilling, keel installation, and photovoltaic panel installation on existing facades (e.g., brick, concrete) without causing structural damage, thereby improving the energy efficiency of old residential and commercial buildings. Through precision drilling and lightweight structural keel design, intervention on the building facade can be minimized, and it is suitable for installing photovoltaic modules on complex building facades such as glass, stone, or composite material facades.

[0077] In addition, the second robotic arm 103 may also include a first pneumatic rotary tool 1031 and a first industrial camera 1033. The first pneumatic rotary tool 1031 may be a high-torque pneumatic actuator capable of providing power for drilling and screw tightening, and can be dynamically adjusted according to the different material hardness of the building facade (e.g., concrete, steel). The first industrial camera 1033 may be located near the drill bit of the second robotic arm 103 for real-time monitoring of the drill bit status (e.g., wear, alignment) and detection of debris accumulation during operation.

[0078] Therefore, the photovoltaic installation system provided by the embodiments of this disclosure, through its modular architecture design, can realize the full automation of photovoltaic installation without human intervention. It can achieve autonomous alignment of the structural keel, automatic handling of photovoltaic panels, and automatic tightening of screws, thereby realizing an end-to-end automated photovoltaic installation workflow.

[0079] In addition, refer to Figures 1 to 3 To enhance the above effects, the photovoltaic installation system 100 may include a base 30 on which a robotic arm 10 is mounted, wherein the base 30 is movable. Two heterogeneous robotic arms 10 may work together to perform operations such as drilling, keel alignment, and photovoltaic panel installation on the building facade.

[0080] Furthermore, the robotic arm 10 of the photovoltaic installation system 100 can be dynamically adjusted in position via the horizontal guide rail 204. For example, the frame 20 can be a rigid aluminum alloy base to facilitate the integration of an electric linear guide rail. The electric linear guide rail may include the horizontal linear guide rail 204, which allows the first robotic arm 101 and the second robotic arm 103 to move laterally synchronously, thus covering a large area of ​​the building facade without the need to reposition the aerial work platform 40.

[0081] Alternatively, the photovoltaic installation system 100 may include a horizontal linear guide rail 204 and a drive mechanism (not shown), the extension direction of which may be parallel to the lateral extension direction of the aerial work platform 40. The drive mechanism is connected to the horizontal linear guide rail. Both the first robotic arm 01 and the second robotic arm 103 may be mounted on the horizontal linear guide rail 204. The controller 102 may control the operation of the drive mechanism to drive the first robotic arm 101 and the second robotic arm 103 to move synchronously along the horizontal linear guide rail 204.

[0082] Therefore, the photovoltaic installation system provided by the embodiments of this disclosure may include two heterogeneous robotic arms, wherein the heterogeneous robotic arms can be understood as two robotic arms having differentiated structures due to different tasks or uses. The two heterogeneous robotic arms can achieve collaborative operation through task division and realize the automation of high-altitude operations for photovoltaic installation on building facades. The first robotic arm is responsible for transporting photovoltaic panels and structural keel, while the second robotic arm positions the structural keel and performs automated fastening operations. The second robotic arm has a quick-change tool module, thus enabling rapid switching between drilling, screw fastening, and suction cup handling operations.

[0083] The highly coordinated and overlapping parallel assembly line operation of two heterogeneous robotic arms eliminates the idle time of "waiting" in traditional photovoltaic (PV) installation work. Furthermore, due to the collaborative operation of the two robotic arms, all PV module installation tasks, from facade scanning to final PV panel fastening, can be completed on an aerial work platform. Therefore, there is no need to erect or rely on temporary scaffolding, nor is manual intervention required. This not only saves on the cost and time of PV module installation but also reduces the impact on the surrounding environment, making it particularly suitable for dense urban environments.

[0084] The photovoltaic installation system provided by the embodiments of this disclosure not only eliminates the risks of manual high-altitude operations, but also improves installation efficiency through optimized load distribution, and ensures compatibility with various photovoltaic modules through the modular architecture design of the photovoltaic installation system.

[0085] Furthermore, through the modular architecture design, the entire photovoltaic installation process is automated without human intervention. It enables the autonomous alignment of the structural keel, automatic handling of photovoltaic panels, and automatic tightening of screws, thereby achieving an end-to-end automated photovoltaic installation workflow.

[0086] refer to Figure 1 , Figures 3 to 8 Embodiments of this disclosure provide another photovoltaic installation system 100 for building facade photovoltaic installation. This photovoltaic installation system can be quickly deployed on various aerial work platforms 40, such as lifts, lifting platforms, and suspended baskets, thereby achieving high-precision and high-efficiency automation of aerial work. The photovoltaic installation system 100 includes two heterogeneous robotic arms 10, one of which is a heavy-duty handling arm 101 (hereinafter referred to as the first robotic arm), and the other is a precision assembly arm 103 (hereinafter referred to as the second robotic arm). In addition, the photovoltaic installation system 100 also includes a controller 102, a data acquisition module 104, and a depth sensor 1035. The data acquisition module 104 is used to acquire building information model data of the building facade. The depth camera 1035 is located at the wrist of the second robotic arm 103 and is used to acquire three-dimensional visual data of the predetermined installation area of ​​the building facade in real time. The controller 102 fuses the three-dimensional visual data with the building information model data to determine the information of the predetermined installation position in the predetermined installation area, and plans real-time dynamic paths for the first robotic arm 101 and the second robotic arm 103 to install the photovoltaic modules at the predetermined installation position.

[0087] It should be noted that, due to the combination of the above text Figures 1 to 7 The detailed description of the photovoltaic installation system 100 may be wholly or partially applicable here. Figure 1 , Figures 3 to 8 The photovoltaic installation system 100 is described, so related or similar content will not be repeated.

[0088] The photovoltaic installation system provided in this disclosure consists of two heterogeneous robotic arms. These two arms can work collaboratively through task division, automating high-altitude photovoltaic installation on building facades. Furthermore, the photovoltaic installation system in this disclosure integrates building information modeling with real-time scanning data from 3D vision sensors to achieve high-precision digital modeling and real-time positioning of the building facade, as well as dynamic path planning for the robotic arms and millimeter-level positioning accuracy at predetermined installation positions.

[0089] Thanks to the collaborative operation of two heterogeneous robotic arms, all photovoltaic module installation tasks can be completed on an aerial work platform. Therefore, there is no need to erect or rely on temporary scaffolding, nor is manual intervention required. This not only saves on the cost and time of photovoltaic module installation but also reduces the impact on the surrounding environment, making it particularly suitable for dense urban environments. The photovoltaic installation system provided by this disclosure not only eliminates the risks of manual high-altitude work but also improves installation efficiency through optimized load distribution and ensures compatibility with various photovoltaic modules through its modular architecture design.

[0090] Figure 9 A flowchart illustrating a photovoltaic module installation method 200 provided for embodiments of this disclosure. Figure 9 As shown, this disclosure provides a photovoltaic module installation method 200, which may include: S11: Using the pneumatic grippers and pneumatic suction cups of the first robotic arm, the structural frame and photovoltaic panels of the photovoltaic modules are transported to the predetermined installation position on the exterior of the building within the first time period.

[0091] S12: Drilling and fastening operations are performed at a predetermined installation position during the second time period via the quick-change tool module of the second robotic arm, wherein the quick-change tool module selectively connects the drilling module and the pneumatic screwdriver module.

[0092] S13: Control the first robotic arm and the second robotic arm to work together through the controller, and make the first time period and the second time period overlap at least partially in time sequence.

[0093] The photovoltaic installation method provided by the embodiments of this disclosure utilizes two heterogeneous robotic arms to achieve collaborative operation through task division and to automate the high-altitude operation of photovoltaic installation on the building facade. The first robotic arm is responsible for transporting photovoltaic panels and structural keel, while the second robotic arm positions the structural keel and performs automated fastening operations. The second robotic arm is equipped with a quick-change tool module, thus enabling rapid switching between drilling, screw fastening, and suction cup handling operations.

[0094] By controlling two heterogeneous robotic arms to work collaboratively, and ensuring that the first and second time periods overlap at least partially in sequence, the idle time of "waiting" in traditional photovoltaic installation operations can be eliminated. Furthermore, due to the collaborative operation of the two heterogeneous robotic arms, all photovoltaic module installation tasks, from facade scanning to final photovoltaic panel fastening, can be completed on a high-altitude work platform. Therefore, there is no need to build or rely on temporary scaffolding, nor is manual intervention required. This not only saves on the cost and time of photovoltaic module installation tasks but also reduces the impact on the surrounding environment, making it particularly suitable for dense urban environments.

[0095] The photovoltaic installation method provided by the embodiments of this disclosure not only eliminates the risks of manual high-altitude operations, but also improves installation efficiency through optimized load distribution, and integrates automated operations of photovoltaic installation processes such as real-time facade scanning, heavy-load control, precision drilling and autonomous assembly under dynamic environmental conditions.

[0096] Specifically, in some embodiments of this disclosure, the photovoltaic module installation method 200 may further include: acquiring building information model data of the building facade through a data acquisition module; acquiring three-dimensional visual data of a predetermined installation area of ​​the building facade in real time through a depth sensor located on the wrist of the second robotic arm; fusing the three-dimensional visual data with the building information model data through a controller to determine information on the predetermined installation position located in the predetermined installation area; and planning real-time dynamic paths for the first robotic arm and the second robotic arm.

[0097] In other words, the embodiments of this disclosure provide a fusion positioning method that integrates building information modeling (BIM) with real-time scanning data from 3D vision sensors to achieve high-precision digital modeling and real-time positioning of building facades, and to achieve millimeter-level positioning accuracy for dynamic path planning and predetermined installation positions of robotic arms. Alternatively, visual data of the building facade can be captured in real time using 3D vision sensors, and this visual data can be combined with BIM data to generate a high-precision "digital twin" facade model of the building.

[0098] For example, depth sensors can use 3D radar technology or structured light technology to collect point cloud data of building facades in real time to capture the geometry, surface features and subtle deviations of the actual environment.

[0099] Optionally, the information regarding the predetermined installation location may include: the three-dimensional spatial coordinates of the predetermined installation location; and the drilling depth at which drilling operations will be performed. In other words, the structural frame of the photovoltaic module needs to be fixed to the predetermined installation location on the building facade. By fusing the building information model with real-time scanning data from a 3D vision sensor, the three-dimensional spatial coordinates of this predetermined installation location can be accurately determined. In this way, the second robotic arm can drill anchor holes at the predetermined installation location and install fasteners within the anchor holes to fix the structural frame to the building facade. During this process, the visual data captured by the depth sensor can be combined with the building information model data to provide millimeter-level positioning for drilling alignment and drilling depth control.

[0100] In addition, in some embodiments of this disclosure, the photovoltaic module installation method 200 may further include: accommodating multiple structural keels and maintaining the multiple structural keels in a preset arrangement posture through an adjustable clamping groove of the structural keel installation module platform.

[0101] Based on this, the pose of the first structural keel can be obtained through a depth sensor. The first structural keel is one of multiple structural keels that maintain a preset arrangement posture. The controller compares the pose of the first structural keel with the preset pose determined based on building information model data. In response to the detection of the pose deviation between the pose of the first structural keel and the preset pose, the controller compensates the first robotic arm for the grasping pose of the first structural keel based on the pose deviation.

[0102] Depth sensors continuously scan the structural keel and compare its orientation with pre-loaded building information model data, dynamically correcting misalignments before the first robotic arm's pneumatic gripper grasps it. After the structural keel is grasped, the first robotic arm's pneumatic quick-release mechanism immediately releases the pneumatic gripper, achieving seamless workflow continuity with a short reset cycle, for example, less than 2 seconds. This collaborative design eliminates manual sorting errors, increasing photovoltaic installation speed by 40% and ensuring accurate, collision-free keel grasping across various building facade structures.

[0103] Therefore, in some implementations, photovoltaic installation methods equipped with heterogeneous robotic arms can achieve high-precision and high-efficiency automation of high-altitude operations, with an assembly accuracy of ±0.1mm. This is applicable to various stages of photovoltaic installation on building facades, such as drilling, structural keel installation, and photovoltaic panel installation. For example, the controller can also control the movement of a second robotic arm based on fused 3D visual data and building information model data to align fasteners with anchor holes.

[0104] The photovoltaic module installation method 200 is applied to a photovoltaic installation system installed on an aerial work platform. The photovoltaic module installation method 200 may further include: detecting the vibration of the aerial work platform by at least one first sensor, wherein the first sensor includes a force / torque sensor and an inertial measurement unit, and fusing real-time data, three-dimensional visual data and building information model data from at least one first sensor by a controller to dynamically correct the real-time dynamic path of the first robotic arm and the second robotic arm.

[0105] In other words, by fusing real-time building information model data with real-time data from sensors such as force / torque sensors, inertial measurement units (IMUs), and depth sensors, complex building facade geometries can be adapted. Furthermore, under dynamic wind conditions, adaptive hole positioning (i.e., anchor hole positioning) can be achieved for structural keel anchor points, enabling automated and precise drilling. For example, IMUs and force / torque sensors can also detect vibrations of the aerial work platform, thereby dynamically adjusting the trajectory of the robotic arm in the photovoltaic installation system to maintain accuracy during structural keel alignment and photovoltaic panel placement. The photovoltaic installation method provided by the embodiments of this disclosure enables wind compensation control, wherein the IMU and force / torque sensors can detect swaying of the aerial work platform to dynamically adjust the movement trajectory of the robotic arm, ensuring accuracy during structural keel alignment and photovoltaic panel placement.

[0106] Additionally, the photovoltaic module installation method 200 may also include: acquiring real-time data via at least one second sensor of a second robotic arm, wherein the at least one second sensor includes a torque sensor; and a controller adaptively adjusting at least one of the parameters of the drilling operation and the fastening operation based on the real-time data.

[0107] For example, the second robotic arm can also integrate a torque sensor, which works in conjunction with the concrete drill bit to adjust the drilling speed based on the material hardness (e.g., concrete, brick) at the pre-drilled hole location on the building facade. Furthermore, based on building information model data, it can avoid public facilities already embedded in the building facade during the positioning or adjustment of the pre-drilled hole location.

[0108] In addition, the second robotic arm may also include a first pneumatic rotary tool and a first industrial camera. The first pneumatic rotary tool may be a high-torque pneumatic actuator capable of providing power for drilling and screw tightening, and dynamically adjustable according to the different material hardness of the building facade (e.g., concrete, steel). The first industrial camera may be located near the drill bit of the second robotic arm to monitor the drill bit's status in real time (e.g., wear, alignment) and detect debris accumulation during operation.

[0109] Therefore, the photovoltaic installation method provided by the embodiments of this disclosure can realize the full automation of photovoltaic installation without human intervention. It can realize the autonomous alignment of the structural keel, the automatic handling of photovoltaic panels and the automatic tightening of screws, thereby realizing an end-to-end automated photovoltaic installation workflow.

[0110] Figure 10 A flowchart of another photovoltaic module installation method 200 provided for embodiments of this disclosure. (See flowchart for example.) Figure 10 As shown, this disclosure provides another photovoltaic module installation method 200, which may include: S21: Obtain the building information model data of the building facade through the data acquisition module.

[0111] S22: Real-time 3D visual data of the predetermined installation area on the building facade is acquired through a depth sensor located on the wrist of the second robotic arm.

[0112] S23: The controller fuses the 3D vision data with the building information model data to determine the information of the predetermined installation position in the predetermined installation area, and plans real-time dynamic paths for the first robotic arm and the second robotic arm to install the photovoltaic module at the predetermined installation position.

[0113] It should be noted that, due to the combination of the above text Figure 9 The detailed description of photovoltaic installation method 200 can be applied in whole or in part to this document. Figure 10 The photovoltaic installation method 200 is described, so related or similar content will not be repeated.

[0114] In the photovoltaic installation method provided by the embodiments of this disclosure, two heterogeneous robotic arms can work collaboratively through task division, and automate the high-altitude operation of photovoltaic installation on the building facade. Furthermore, the photovoltaic installation method provided by the embodiments of this disclosure also integrates building information modeling with real-time scanning data from 3D vision sensors to achieve high-precision digital modeling and real-time positioning of the building facade, and to achieve dynamic path planning for the robotic arms and millimeter-level positioning accuracy at the predetermined installation position.

[0115] Thanks to the collaborative operation of two heterogeneous robotic arms, all photovoltaic module installation tasks can be completed on an aerial work platform. Therefore, there is no need to erect or rely on temporary scaffolding, nor is manual intervention required. This not only saves on the cost and time of photovoltaic module installation but also reduces the impact on the surrounding environment, making it particularly suitable for dense urban environments. The photovoltaic installation method provided by this disclosure not only eliminates the risks of manual high-altitude work but also improves installation efficiency through optimized load distribution, ensuring compatibility with various photovoltaic modules.

[0116] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0117] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A photovoltaic module installation system, characterized in that, include: The first robotic arm, including a pneumatic gripper and a pneumatic suction cup, is configured to transport the structural frame and photovoltaic panels of the photovoltaic module to a predetermined installation position on the building facade within a first time period. The second robotic arm includes a quick-change tool module, which is selectively connected to a drilling module or a pneumatic screwdriver module. The second robotic arm is configured to perform drilling and fastening operations at the predetermined installation position during a second time period. as well as The controller is configured to control the first robotic arm and the second robotic arm to work together, such that the first time period and the second time period overlap at least partially in time sequence.

2. The system according to claim 1, wherein, The system also includes: The data acquisition module is configured to acquire the building information model data of the building facade; and A depth sensor, located at the wrist of the second robotic arm, is configured to acquire real-time 3D visual data of a predetermined installation area on the building facade. The controller is further configured to fuse the 3D visual data with the building information model data to determine the information of the predetermined installation position in the predetermined installation area, and to plan real-time dynamic paths for the first robotic arm and the second robotic arm.

3. The system according to claim 2, wherein, The information regarding the predetermined installation location includes: The three-dimensional spatial coordinates of the predetermined installation location; and The drilling depth at the predetermined installation location.

4. The system according to claim 2, wherein, The quick-change tool module is configured to selectively connect to the drilling module or the pneumatic screwdriver module via a magnetic coupling mechanism to perform the following operations: Anchor holes are drilled at the predetermined installation location using the drilling module; and The fasteners are placed in the anchor holes using the pneumatic screwdriver module to fix the structural keel to the building facade.

5. The system according to claim 4, wherein, The controller is also configured to: Based on the fused 3D visual data and the building information model data, the movement of the second robotic arm is controlled to align the fastener with the anchor hole.

6. The system according to claim 2, wherein, The system also includes: The structural keel mounting module platform includes adjustable clamping slots and is configured to accommodate multiple structural keels and maintain the multiple structural keels in a preset arrangement.

7. The system according to claim 6, wherein, The depth sensor is further configured to: acquire the pose of a first structural keel, the first structural keel being one of a plurality of structural keels maintaining the preset arrangement posture; and The controller is also configured to compare the pose of the first structural keel with a preset pose determined based on the building information model data; And in response to detecting a pose deviation between the pose of the first structural keel and the preset pose, the first robotic arm compensates for the grasping pose of the first structural keel based on the pose deviation.

8. The system according to claim 2, wherein, The system is installed on an aerial work platform, and the system also includes: At least one first sensor, including a force / torque sensor and an inertial measurement unit, is configured to detect vibrations of the aerial work platform; and The controller is also configured to fuse real-time data from at least one of the first sensors, the three-dimensional visual data, and the building information model data to dynamically correct the real-time dynamic paths of the first robotic arm and the second robotic arm.

9. The system according to claim 1, wherein, The second robotic arm also includes at least one second sensor; and The controller is also configured to adaptively adjust parameters of at least one of the drilling operation and the fastening operation based on real-time data from at least one of the second sensors. At least one of the second sensors includes a torque sensor.

10. The system according to claim 1, wherein, The system is installed on an aerial work platform, and the system also includes: A horizontal linear guide rail extends parallel to the lateral extension direction of the aerial work platform; and The drive mechanism is connected to the horizontal linear guide rail; Both the first robotic arm and the second robotic arm are mounted on the horizontal linear guide rail; and The controller is also configured to control the operation of the drive mechanism to drive the first robotic arm and the second robotic arm to move synchronously along the horizontal linear guide rail.

11. A photovoltaic module installation system, characterized in that, include: First robotic arm; The second robotic arm has a structure that differs from that of the first robotic arm. The data acquisition module is configured to acquire building information model data of the building facade; A depth sensor, located at the wrist of the second robotic arm, is configured to acquire three-dimensional visual data of a predetermined installation area on the building facade in real time. as well as The controller is configured to fuse the 3D vision data with the building information model data, determine information about a predetermined installation location within the predetermined installation area, and plan real-time dynamic paths for the first robotic arm and the second robotic arm to install the photovoltaic module at the predetermined installation location.

12. The system according to claim 11, wherein, The system is installed on an aerial work platform, and the system also includes: At least one first sensor, including a force / torque sensor and an inertial measurement unit, is configured to detect vibrations of the aerial work platform; and The controller is also configured to fuse real-time data from at least one of the first sensors, the three-dimensional visual data, and the building information model data to dynamically correct the real-time dynamic paths of the first robotic arm and the second robotic arm.

13. A method for installing photovoltaic modules, characterized in that, include: Using the pneumatic grippers and pneumatic suction cups of the first robotic arm, the structural frame and photovoltaic panels of the photovoltaic module are transported to the predetermined installation position on the exterior of the building within a first time period. The second robotic arm uses a quick-change tool module to perform drilling and fastening operations at the predetermined installation position during a second time period, wherein the quick-change tool module is selectively connected to a drilling module or a pneumatic screwdriver module. as well as The controller controls the first and second robotic arms to work together, and the first and second time periods overlap at least partially in time sequence.

14. The method according to claim 13, wherein, The method further includes: The building information model data of the building facade is obtained through the data acquisition module; The depth sensor located on the wrist of the second robotic arm acquires real-time three-dimensional visual data of the predetermined installation area on the building facade; and The controller fuses the 3D visual data with the building information model data to determine the information of the predetermined installation position in the predetermined installation area, and plans real-time dynamic paths for the first robotic arm and the second robotic arm.

15. The method according to claim 14, wherein, The information regarding the predetermined installation location includes: The three-dimensional spatial coordinates of the predetermined installation location; and The drilling depth at the predetermined installation location.

16. The method according to claim 14, characterized in that, The drilling and fastening operations performed at the predetermined installation position during the second time period via the quick-change tool module of the second robotic arm include: The quick-change tool module controls the switching between the drilling module and the pneumatic screwdriver module; Anchor holes are drilled at the predetermined installation location using the drilling module; and The fasteners are placed in the anchor holes using the pneumatic screwdriver module to fix the structural keel to the building facade.

17. The method according to claim 16, wherein, Setting the fastener into the anchor hole using the pneumatic screwdriver module includes: Based on the fused 3D visual data and the building information model data, the movement of the second robotic arm is controlled to align the fastener with the anchor hole.

18. The method according to claim 14, wherein, The method further includes: The adjustable clamping slot of the structural keel installation module platform accommodates multiple structural keels and maintains them in a preset arrangement.

19. The method according to claim 18, wherein, The method further includes: The pose of the first structural keel is obtained by the depth sensor, and the first structural keel is one of a plurality of structural keels that maintain the preset arrangement posture; The controller compares the pose of the first structural keel with a preset pose determined based on the building information model data; and In response to detecting a pose deviation between the pose of the first structural keel and the preset pose, the controller compensates for the grasping pose of the first robotic arm when grasping the first structural keel based on the pose deviation.

20. The method of claim 14, wherein, The method is applied to a photovoltaic installation system installed on an aerial work platform, and the method further includes: Vibration of the aerial work platform is detected by at least one first sensor, wherein the first sensor includes a force / torque sensor and an inertial measurement unit; and The controller fuses real-time data from at least one of the first sensors, the 3D vision data, and the building information model data to dynamically correct the real-time dynamic paths of the first robotic arm and the second robotic arm.

21. The method according to claim 13, wherein, The method further includes: Real-time data is acquired through at least one second sensor of the second robotic arm, wherein at least one second sensor includes a torque sensor; and Based on the real-time data, the controller adaptively adjusts the parameters of at least one of the drilling operation and the fastening operation.

22. A method for installing photovoltaic modules, characterized in that, The method is applied to a photovoltaic installation system, the system including a first and second robotic arm with different structures, a data acquisition module, a depth sensor, and a controller, and the method includes: The building information model data of the building facade is obtained through the data acquisition module; The depth sensor located on the wrist of the second robotic arm acquires real-time three-dimensional visual data of the predetermined installation area on the building facade; and The controller fuses the 3D visual data with the building information model data to determine the information of the predetermined installation location in the predetermined installation area, and plans real-time dynamic paths for the first robotic arm and the second robotic arm to install the photovoltaic module at the predetermined installation location.

23. The method according to claim 22, wherein, The method further includes: Vibration of the aerial work platform is detected by at least one first sensor, wherein the first sensor includes a force / torque sensor and an inertial measurement unit; and The controller fuses real-time data from at least one of the first sensors, the 3D vision data, and the building information model data to dynamically correct the real-time dynamic paths of the first robotic arm and the second robotic arm.

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