A precise installation method of a double-curved flexible roof photovoltaic integrated structure

Abstract

The application discloses a precise installation method of a hyperbolic flexible roof photovoltaic integrated structure and belongs to the technical field of building photovoltaic integration. Theoretical cumulative additional displacement of each partition is simulated and calculated through establishment of a finite element model; an electric control telescopic adjusting part, an electric control locking part and a pressure sensor are arranged at each installation node; when installation is performed, the four-corner contact forces are adjusted to be balanced and then locked; before subsequent partition installation, actual coordinates of the installed partition are acquired to calculate cumulative displacement, which is compared with the theoretical value, and then reversed compensation and relocking are performed; and finally locking is performed after all construction is completed. The application effectively controls cumulative deformation of partition construction, avoids photovoltaic panel misalignment and hidden cracks, and improves installation precision and construction efficiency.

Description

Technical Field

[0001] This invention belongs to the field of building-integrated photovoltaics (BIPV) technology, specifically relating to a precise installation method for a hyperbolic flexible roof BIPV structure. Background Technology

[0002] With the rapid development of building-integrated photovoltaics (BIPV) technology, directly integrating photovoltaic modules onto building roofs has become an important direction for green building development. Among them, hyperbolic flexible roofs are increasingly being used in large public buildings, stadiums, and transportation hubs due to their beautiful shape, high structural efficiency, and good drainage performance. However, the large curvature, large span, and flexible deformation characteristics of hyperbolic flexible roofs pose a significant challenge to the precise installation of photovoltaic panels.

[0003] Currently, the installation of hyperbolic roof photovoltaic panels typically involves the following steps: first, fixing the brackets to the roof structure at the designed locations; then, hoisting the photovoltaic panels onto the brackets and securing them with fasteners. To address roof deformation, some solutions incorporate adjustable screws within the brackets. Construction workers manually adjust the screw height based on on-site measurements to ensure the four corners of the photovoltaic panels are roughly flush. Other solutions utilize elastic gaskets between the photovoltaic panels and the brackets to absorb displacement differences caused by roof deformation.

[0004] However, the aforementioned existing technologies have the following shortcomings: First, there is a lack of prediction and control regarding the cumulative effects of zoned construction. Hyperbolic flexible roofs have a large area, and photovoltaic panels are typically installed sequentially in zones. Installed zones will experience continuous cumulative displacement under the loads of subsequent zone construction. However, existing installation methods are all one-time installation and one-time locking models, without considering the impact of subsequent construction on the already installed photovoltaic panels. When subsequent zone construction occurs, the already installed photovoltaic panels are forced to deform along with the roof, leading to misalignment between adjacent photovoltaic panels, and in severe cases, even tearing the cable connections between the panels.

[0005] Secondly, there is a lack of balanced control over the contact forces at the four corners of the photovoltaic panel. The existing method of manually adjusting the screws relies heavily on the experience of the installers and cannot accurately perceive the stress state at the four corners of the photovoltaic panel. When the support heights at the four corners are inconsistent, additional bending moments and torques will be generated inside the photovoltaic panel. Since the photovoltaic panel is a brittle, thin plate structure, it is extremely prone to microcracks or even breakage, severely affecting power generation efficiency and service life.

[0006] Third, it lacks the ability to adapt to the deformation differences in different areas of a hyperbolic roof. The Gaussian curvature varies significantly at different locations on a hyperbolic roof; areas with high curvature exhibit large deformation gradients, while areas with low curvature show gentler deformation. Existing installation methods employ a uniform adjustment strategy and precision standard for all areas, which cannot adapt to the uneven deformation of hyperbolic roofs. This results in insufficient installation precision in high-curvature areas and low construction efficiency in low-curvature areas.

[0007] Fourth, there is a lack of a post-installation compensation mechanism for roof deformation. Current installation methods permanently lock the photovoltaic panels in place after installation, making it impossible to compensate for displacement during subsequent construction. When significant deformation occurs in the roof due to later construction, the only solution is to remove and reinstall the panels, which is not only inefficient and costly but may also cause secondary damage to the photovoltaic panels and roof structure.

[0008] Therefore, there is an urgent need for a method that can adapt to the deformation characteristics of hyperbolic flexible roofs and achieve precise installation and dynamic compensation of photovoltaic panels throughout the entire process of zoned construction. Summary of the Invention

[0009] In view of this, the purpose of the present invention is to provide a precise installation method for a hyperbolic flexible roof photovoltaic integrated structure.

[0010] To achieve the above objectives, the present invention provides the following technical solution: A precise installation method for a hyperbolic flexible roof photovoltaic integrated structure includes the following steps: S1: Obtain three-dimensional measured data of the roof to establish a finite element model, divide the entire installation area into multiple partitions and determine the construction sequence, and simulate and calculate the theoretical cumulative additional displacement of each installed partition under the load of each subsequent construction stage. S2: Electrically adjustable connection devices are installed at each installation node, including electrically controlled telescopic adjustment components and electrically controlled locking components. Pressure sensors are installed at each corner of the photovoltaic panel, and coordinate measuring devices are installed, all of which are connected to the central controller. S3: When installing any photovoltaic panel, the central controller obtains the contact force signals fed back by each pressure sensor in real time, and sends independent telescopic drive signals to the electronically controlled telescopic adjustment components corresponding to each corner of the current photovoltaic panel in turn, until the contact force at the four corners of the same photovoltaic panel meets the preset balance condition, and then sends a locking signal to drive the electronically controlled locking components to lock the photovoltaic panel. S4: Before each unconstructed section is installed, the central controller performs a compensation operation on all installed sections: the current actual spatial coordinates of each node are obtained through the coordinate measuring device, the current cumulative displacement of each node is calculated based on the current actual spatial coordinates and the corresponding initial reference coordinates. The initial reference coordinates are the node coordinates collected when the section is installed and locked. The current cumulative displacement of each node is compared with the theoretical cumulative additional displacement corresponding to S1 to obtain the deviation. The locking state of the electronic locking device is released, and the electronic telescopic adjustment device is driven to perform reverse compensation based on the deviation until the deviation of all nodes in all installed sections meets the preset accuracy requirements. Then, the electronic locking device is driven to lock again. S5: After all construction is completed, send the final locking signal to all electrically controlled locking components.

[0011] The beneficial effects of this invention are as follows: First, it achieves prediction and full-process control of the cumulative effects of zoned construction. This invention establishes a finite element model, activates photovoltaic panel units zone by zone according to the construction sequence, simulates and calculates the theoretical cumulative additional displacement of each installed zone in subsequent construction stages, and performs compensation operations on all installed zones in S4 before the installation of each new zone, comparing and compensating for the current cumulative displacement of the installed photovoltaic panels with the theoretical cumulative additional displacement. As a result, the installed photovoltaic panels no longer passively follow roof deformation, and the misalignment between adjacent photovoltaic panels is controlled within a preset threshold, effectively avoiding the risk of cable breakage between panels.

[0012] Secondly, this invention achieves precise and balanced control of the contact force at the four corners of the photovoltaic panel. By deploying pressure sensors at each installation node, the central controller acquires the contact force signals at the four corners in real time. Based on the inverse operation of the influence matrix or an iterative algorithm, the required adjustment amount for each electrically controlled telescopic adjustment component is calculated, and adjustments are made round by round until the difference in contact force at the four corners is less than a preset equilibrium threshold. Compared with existing manual adjustment screw methods, this invention does not rely on the experience of construction personnel, can accurately detect and eliminate uneven force at the four corners, and avoids hidden cracks or breakage of the photovoltaic panel due to additional bending moments and torques.

[0013] Third, this invention achieves adaptive zoning and construction based on the deformation differences in different areas of the hyperbolic roof. By integrating the absolute value of the Gaussian curvature, the maximum included angle of the normal vectors at the four corner support points of the photovoltaic panels, and the theoretical cumulative additional displacement sensitivity per unit area, a comprehensive zoning index is generated. Based on this, the roof is divided into multiple zones, and a multi-objective genetic algorithm or particle swarm optimization algorithm is used to optimize the construction sequence. As a result, higher curvature areas achieve more precise compensation control, while construction efficiency in lower curvature areas is improved.

[0014] Fourth, this invention implements a full-process post-deformation compensation mechanism for roof deformation. In step S4, the invention releases the locking state of the electrically controlled locking component, drives the electrically controlled telescopic adjustment component to perform reverse compensation based on the deviation, and relocks after compensation, forming a cyclical iterative mechanism. Compared with existing methods of one-time installation and permanent locking, this invention can compensate for the displacement of installed photovoltaic panels without dismantling and reinstalling, avoiding damage to the photovoltaic panels and roof structure caused by secondary construction. Attached Figure Description

[0015] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration: Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment discloses a precise installation method for a hyperbolic flexible roof photovoltaic integrated structure, applicable to the zonal installation of photovoltaic panels on hyperbolic flexible roofs of large public buildings, stadiums, transportation hubs, etc. This method uses finite element simulation to predict the theoretical cumulative additional displacement of the installed zones during subsequent construction, and uses an electrically adjustable connection device, pressure sensor, coordinate measuring device, and central controller to achieve balanced control of the contact force at the four corners of the photovoltaic panels, dynamic reverse compensation before zonal construction, and final locking after all construction is completed.

[0017] like Figure 1 As shown, this invention discloses a precise installation method for a hyperbolic flexible roof photovoltaic integrated structure, the working principle and process of which are as follows: I. Overall Implementation Process S1: Obtain three-dimensional measured data of the roof to establish a finite element model, divide the entire installation area into multiple partitions and determine the construction sequence, and simulate and calculate the theoretical cumulative additional displacement generated by each installed partition under the load of each subsequent construction stage.

[0018] S2: Electrically adjustable connection devices are installed at each installation node, including electrically controlled telescopic adjustment components and electrically controlled locking components. Pressure sensors are installed at each corner of the photovoltaic panel, and coordinate measuring devices are installed, all of which are connected to the central controller.

[0019] S3: When installing any photovoltaic panel, the central controller acquires the contact force signals fed back by each pressure sensor in real time, and sends independent telescopic drive signals to the electronically controlled telescopic adjustment components corresponding to each corner of the current photovoltaic panel in turn, until the contact force at the four corners of the same photovoltaic panel meets the preset balance condition, and then sends a locking signal to drive the electronically controlled locking components to lock the photovoltaic panel.

[0020] S4: Before installing any of the remaining unconstructed sections, the central controller performs a compensation operation on all installed sections: it acquires the current actual spatial coordinates of each node through a coordinate measuring device, calculates the current cumulative displacement of each node based on the current actual spatial coordinates and the corresponding initial reference coordinates (the initial reference coordinates are the node coordinates collected when the section is installed and locked), compares the current cumulative displacement of each node with the corresponding theoretical cumulative additional displacement in S1 to obtain the deviation, releases the locking state of the electronic locking device, and drives the electronic telescopic adjustment device to perform reverse compensation based on the deviation until the deviation of all nodes in all installed sections meets the preset accuracy requirements, and then re-drives the electronic locking device to lock.

[0021] S5: After all construction is completed, send the final locking signal to all electrically controlled locking components.

[0022] II. Detailed Implementation of S1 S11: Obtain three-dimensional measured data of the roof. A 3D laser scanner was used to perform a full-field scan of the hyperbolic flexible roof to acquire point cloud data. Let the resulting point cloud set be: in, Cloud collection for rooftops; For the first The three-dimensional coordinate vector of a point cloud point; The first A point cloud point in Coordinate components in the direction; Total number of points in the point cloud; superscript This represents the transpose of a vector.

[0023] The point cloud data undergoes denoising, registration, and coordinate unification. Denoising can be achieved using statistical filtering or radius filtering, while registration can be performed using the ICP algorithm, with the objective function being: in, It is a rotation matrix; It is a translation vector; The first point cloud in the source cloud One point; In the target point cloud The corresponding number One point; The total number of point pairs participating in registration; This represents the Euclidean norm.

[0024] After coordinate unification, an actual three-dimensional curved surface model of the roof is generated.

[0025] S12: Establishing the finite element model Based on the actual 3D curved surface model of the roof, a finite element model including the roof structure, photovoltaic panels, and installation nodes was established. The roof structure was simulated using shell elements, the photovoltaic panels using plate elements, and the installation nodes using spring or beam elements.

[0026] The stiffness matrix of a shell element can be expressed as: in, Here is the stiffness matrix of the shell element; For the shell element integration field; Here is the strain-displacement matrix of the shell element; The elastic matrix of the shell element material; For area infinitesimal elements; superscript This indicates the matrix transpose.

[0027] The stiffness matrix of a plate element can be expressed as: in, Here is the stiffness matrix of the plate element; Here is the strain-displacement matrix of the plate element; The elastic matrix of the plate element material; , The meaning is the same as above.

[0028] When spring elements are used for mounting nodes, the relationship between the node force and the relative displacement is as follows: in, The force vector at the nodes of the spring element; The equivalent stiffness of the spring element; , These are the two ends of the spring unit. , The displacement vector.

[0029] If the installation nodes are simulated using beam elements, then the beam element stiffness matrix can be used: in, Here is the stiffness matrix of the beam element; The length of the beam element; The strain-displacement matrix of the beam element; The elasticity matrix of the beam element material; It is a length infinitesimal element.

[0030] By combining shell elements, plate elements, and spring / beam elements, the roof's flexible deformation, photovoltaic panel stiffness, and installation node connection characteristics can be reflected simultaneously, making the theoretical cumulative additional displacement calculation closer to the actual stress state.

[0031] S13: Divide the area into zones and determine the construction sequence Based on the roof expansion joints, construction joints, and photovoltaic panel array, the entire installation area is divided into multiple zones, each containing several photovoltaic panels, and the construction sequence of each zone is determined.

[0032] Let the total installation area be Divided into One partition: in, For the entire installation area; For the first One partition; Total number of partitions; Represents the union; Indicates intersection; Indicates the empty set; This is the partition number.

[0033] The construction sequence can be represented as follows: in, This is the construction sequence vector; Indicates the first The construction zone number; .

[0034] By dividing the large hyperboloid roof into controllable construction units through zoned construction, it is easier to predict cumulative displacement and implement compensation zone by zone.

[0035] S14: Simulation calculation of theoretical cumulative additional displacement throughout the construction process In the finite element model, the roof's self-weight is applied as the initial dead load: in, This is the initial global stiffness matrix; This is the initial node displacement vector; This is the vector of the roof's self-weight and other dead loads.

[0036] Then, following the construction sequence, activate the photovoltaic panel units zone by zone and apply the corresponding photovoltaic panel self-weight and construction load. The overall equilibrium equation during the construction phase can be expressed as: in, For the first Overall stiffness matrix during construction phase; For the first Nodal displacement vectors during the construction phase; The constant load vector; For the first Construction load vector during the construction phase; For the first Additional load vectors during the construction phase, such as wind load and temperature effects; This is a construction phase number.

[0037] For nodes in the installed partition Its theoretical cumulative additional displacement relative to when the partition is installed and locked is defined as: in, For nodes In the Theoretical cumulative additional displacement vector during the construction phase; For nodes In the Displacement vector during the construction phase; For nodes When the partition is installed and locked Displacement vector during the construction phase; For nodes The construction phase in which the relevant partition is installed and locked; superscript This represents the theoretical value.

[0038] If expressed in coordinate form, then: in, , , They are nodes In the Construction phase along Theoretically accumulated additional displacement components in the direction.

[0039] S15: Storage Theoretical Accumulated Additional Displacement The theoretical cumulative additional displacement of each node at each construction stage is stored in the central controller, serving as the benchmark data for deviation comparison in S4. A dataset can be established: in, Add a set of theoretically accumulated displacement data; For nodes In the Theoretical cumulative additional displacement during the construction phase; Represents a node It belongs to the entire installation area; This represents the total number of construction stages; This indicates the subsequent construction phase.

[0040] III. Detailed Implementation of S2 S21: Install an electrically adjustable connection device Electrically adjustable connection devices are installed at each installation node. The lower end of the electrically adjustable connection device is fixedly connected to the roof structure, and the upper end is connected to the photovoltaic panel support frame. It is used to transfer loads between the roof structure and the photovoltaic panels and to adjust the spatial position of the photovoltaic panels.

[0041] Let the first The initial coordinates of each installation node are The axial unit vector of the electrically controlled telescopic adjustment component is The amount of expansion is Then the current coordinates of the node can be represented as: in, For the first The current spatial coordinate vector of each installation node; For the first The initial spatial coordinate vector of each installation node; For the first The axial unit vector of an electrically controlled telescopic adjustment component; For the first The amount of extension and retraction of an electrically controlled telescopic adjustment component.

[0042] The incremental relationship is as follows: in, For the first The coordinate increment vector of each installation node; For the first The increment of the extension / retraction amount of each electronically controlled telescopic adjustment component.

[0043] S22: Equipped with electrically controlled telescopic adjustment components and electrically controlled locking components. The electrically controlled adjustable connection device includes an electrically controlled telescopic adjustment component and an electrically controlled locking component. The electrically controlled telescopic adjustment component is used to drive the electrically controlled adjustable connection device to axially extend or retract when energized, thereby adjusting the spatial position of the corresponding node. The electrically controlled telescopic adjustment component can be a servo electric cylinder, a lead screw and nut mechanism, a hydraulic servo cylinder, or a piezoelectric actuator, etc.

[0044] The electrically controlled locking mechanism is a power-off locking type, maintaining the lock mechanically when power is off and releasing it when power is on. Let the locking state variable be: in, For the first Locking state variables of an electronically controlled locking component; Indicates a locked state; Indicates the state is lifted.

[0045] S23: Install pressure sensors A pressure sensor is installed at each of the four corners of each photovoltaic panel. The pressure sensor is located at the upper end of the electrically adjustable connection device, between the electrically adjustable connection device and the photovoltaic panel support frame, and is used to detect the contact force between the corner of the photovoltaic panel and the corresponding installation node in real time.

[0046] Let the contact forces at the four corners of a photovoltaic panel be: in, Let the contact force vectors at the four corners of a photovoltaic panel be defined. These represent the contact forces at the 1st, 2nd, 3rd, and 4th corners of the photovoltaic panel, respectively; superscript This indicates transpose.

[0047] S24: Set up the coordinate measuring device and establish communication connection. A coordinate measuring device is installed to collect the current actual spatial coordinates of each installation node. Each electrically controlled telescopic adjustment component, each electrically controlled locking component, each pressure sensor, and each coordinate measuring device is connected to the central controller via wired or wireless means.

[0048] Let the first The node at the th The actual measured coordinates at that time are: in, For the first The node at the th The actual measured coordinate vector at any given moment; , , The first The node at the th Time along Measured coordinate components of direction; superscript This represents the measured value.

[0049] IV. Detailed Implementation of S3 S31: Install photovoltaic panels and test contact force The photovoltaic panel to be installed is hoisted above the corresponding installation node, ensuring that the four corners of the panel contact the upper end of the corresponding electrically adjustable connection device. Pressure sensors at each corner continuously monitor the contact force between the corner of the photovoltaic panel and the corresponding installation node.

[0050] S32: Establish the influence matrix The central controller applies test drive signals to the electronically controlled telescopic adjustment components corresponding to the four corners of the photovoltaic panel to be installed with an initial adjustment step size of less than 5% of the total stroke of the electronically controlled telescopic adjustment component. It records the change in contact force of each pressure sensor and establishes an influence matrix characterizing the coupling relationship between the change in the telescopic amount of each electronically controlled telescopic adjustment component and the change in contact force at each corner.

[0051] Let the vector of the expansion / contraction change of the four electrically controlled telescopic adjustment components be: in, The vector representing the change in the extension / retraction amount of the four electronically controlled telescopic adjustment components; These represent the changes in extension / retraction of the 1st, 2nd, 3rd, and 4th electrically controlled telescopic adjustment components, respectively; superscript This indicates transpose.

[0052] The vectors of the contact forces at the four corners are: in, These are the contact force variation vectors at the four corners; These represent the changes in contact force at the 1st, 2nd, 3rd, and 4th corners, respectively.

[0053] The influence matrix relationship is as follows: in, The influence matrix characterizes the coupling relationship between the changes in the extension and retraction of each electronically controlled telescopic adjustment component and the changes in the contact force at each corner.

[0054] The influence matrix can be represented as: in, To affect the matrix elements, represent the first... The change in the extension / retraction amount of the electronically controlled telescopic adjustment component affects the first... The influence of contact force at each corner; Indicates the corner number; This indicates the part number of the electronically controlled telescopic adjustment component.

[0055] The elements of the influence matrix can be obtained through testing: in, For the first The minute change in contact force at each corner; For the first The minute change in the extension and retraction of an electrically controlled telescopic adjustment component.

[0056] In engineering, the difference approximation can be used: in, Indicates only the first The telescopic adjustment component's telescopic range has increased. Time Contact force at each corner; Indicates only the first The telescopic adjustment component has reduced telescopic range. Time Contact force at each corner; For the first The test step length of an electronically controlled telescopic adjustment component.

[0057] The initial adjustment step size satisfies: in, For the first The total stroke of each electrically controlled telescopic adjustment component; It represents 5%.

[0058] S33: Calculate the average and difference of the contact forces at the four corners. The central controller receives contact force signals from the pressure sensors at the four corners of the photovoltaic panel in real time and calculates the average value of the contact force at the four corners. in, This represents the average value of the contact forces at the four corners. For the first Contact force at each corner; Number the corners.

[0059] And the difference between the contact force at each corner and the average value: in, For the first The difference between the contact force at each corner and the average value; For the first Contact force at each corner; This represents the average value of the contact forces at the four corners.

[0060] The difference vector is: in, This is the vector of contact force differences at the four corners; These represent the contact force differences at the 1st, 2nd, 3rd, and 4th corners, respectively; superscript. This indicates transpose.

[0061] S34: Calculate the required adjustment amount for each electrically controlled telescopic adjustment component. Based on the influence matrix and the differences, the adjustment amount required for each electrically controlled telescopic adjustment component is calculated by inverse operation of the influence matrix or by iterative algorithm to make the contact force at each corner tend to the average value.

[0062] Ideally, the change in contact force should offset the current difference: in, This is the vector of contact force changes; This is the current vector of contact force differences at the four corners; the negative sign indicates reverse compensation.

[0063] Depend on: We can obtain: in, For the influence matrix; For the vector of the expansion and contraction amount of the electronically controlled telescopic adjustment component; This is the vector of contact force differences at the four corners.

[0064] If the influence matrix is ​​invertible, then: in, For the influence matrix The inverse matrix.

[0065] If the matrix is ​​ill-conditioned or close to singular, damped least squares is used: in, It is a damping factor used to improve matrix ill-conditioned problems; It is the identity matrix; superscript Indicates transpose; superscript This represents finding the inverse of a matrix.

[0066] In actual iteration: in, For the first The extension / retraction vector of the electronically controlled telescopic adjustment component during the next iteration; For the first The extension / retraction vector of the electronically controlled telescopic adjustment component during the next iteration; For the first The scaling adjustment vector obtained from the next iteration; Step size factor; This represents the number of iterations.

[0067] Wherein, the step size factor satisfies: The coupling effect between the four adjustment components can be considered at the same time, avoiding repeated oscillations caused by adjusting them one by one, and improving the efficiency and accuracy of the four-corner leveling.

[0068] S35: Adjust step by step until the equilibrium condition is met. The central controller sends independent extension / retraction drive signals to each electronically controlled extension / retraction adjustment component according to the adjustment amount, and repeats steps S33 to S34 until the maximum value among the four differences is less than the preset equalization threshold. in, For the first Contact force at each corner; This represents the average value of the contact forces at the four corners. The preset absolute balance threshold; This indicates taking the maximum value; It represents the absolute value.

[0069] A relative threshold can also be used: in, This is the preset relative equilibrium threshold; the meanings of the other symbols are the same as above.

[0070] By adjusting the closed loop in successive cycles, the contact forces at the four corners are made more consistent, thereby eliminating additional bending moments and torques inside the photovoltaic panel and preventing hidden cracks or breakage.

[0071] S36: Lock the current photovoltaic panel The central controller sends locking signals to the electronically controlled locking components at the four corners of the current photovoltaic panel, locking the current extension and retraction of each electronically controlled telescopic adjustment component, so that the current photovoltaic panel maintains a position with balanced contact force at the four corners.

[0072] V. Detailed Implementation of S4 S41: Acquire and store initial reference coordinates After each partition is installed and S3 locking is executed, the central controller acquires the initial actual spatial coordinates of each node in that partition through a coordinate measuring device, and stores the initial actual spatial coordinates as the initial reference coordinates of that node: in, For the first The initial reference coordinate vector of each node; For the first Each node completes partition installation and locks at the specified time. The measured coordinate vector; The time when the partition was installed and locked; superscript Indicates the baseline value.

[0073] S42: Perform compensation operations before subsequent zoning construction. Before installing on any subsequent unfinished partitions, the central controller performs a compensation operation on all installed partitions.

[0074] S421: Acquire current actual coordinates while maintaining the locked state. With all installed partitions locked, the current actual spatial coordinates of each node in all installed partitions are collected using a coordinate measuring device: in, For the first Each node at the current moment The measured coordinate vector; , , The first Each node at the current moment along Measured coordinate components of the direction.

[0075] S422: Release the locking state of the electronically controlled locking device. Release the locking status of all electrically controlled locking devices on all nodes of the installed partition: in, For the first Locking state variables of an electronically controlled locking component; This indicates that the locked state has been released.

[0076] This allows the electronically controlled telescopic adjustment component to perform active compensation.

[0077] S423: Calculate the current cumulative displacement For each installed photovoltaic panel, the difference between the current actual spatial coordinates of each node and the corresponding initial reference coordinates is taken as the current cumulative displacement of that node: in, For the first Each node at the current moment The current cumulative displacement vector; For the first Each node at the current moment The measured coordinate vector; For the first The initial reference coordinate vector of each node; superscript This represents the measured value.

[0078] Its component form is: in, , , The first Each node at the current moment along The current cumulative displacement component in the direction.

[0079] S424: Calculate the deviation Calculate the deviation between the current cumulative displacement of each node and the theoretical cumulative additional displacement of that node in S1 at the current construction stage: in, For the first Each node at the current moment The deviation vector; For the first Each node at the current moment The current cumulative displacement vector; For the first The theoretical cumulative additional displacement vector corresponding to each node in the current construction stage; superscript This represents the theoretical value.

[0080] Its component form is: in, , , The first Each node at the current moment along Components of directional deviation.

[0081] S425: Calculate the overall compensation amount and perform synchronous reverse compensation. The average value of the deviations at the four nodes of the same photovoltaic panel is taken as the overall compensation amount for the photovoltaic panel. in, For the first At the current moment, a solar panel The overall compensation vector; For the first The deviation vector of each node; Indicates the first The node belongs to the node. A photovoltaic panel.

[0082] The electrically controlled telescopic adjustment components driving the four mounting nodes of the photovoltaic panel perform synchronous reverse compensation according to the overall compensation amount. If the adjustment is only along the axial direction of the electrically controlled telescopic adjustment component, then the first... The scaling compensation for each node is: in, For the first Each node at the current moment Axial expansion and contraction compensation amount; For the first The axial unit vector of an electrically controlled telescopic adjustment component; for transpose; For the first The overall compensation vector of the photovoltaic panel; For vectors The Euclidean norm; the negative sign indicates reverse compensation.

[0083] If three-dimensional compensation is required, the target compensation displacement is: in, For the first Each node at the current moment The target compensation displacement vector; For the first The overall compensation vector of the photovoltaic panel; the negative sign indicates reverse compensation.

[0084] Using the average deviation of the four nodes of the same photovoltaic panel as the overall compensation amount can avoid the distortion of the panel caused by single-point adjustment, and at the same time realize the overall posture correction of the installed photovoltaic panels.

[0085] S426: Iterate until the accuracy requirement is met. Repeat steps S423 to S425 until the average deviation of all photovoltaic panels in all installed zones is less than the preset accuracy threshold. in, For the first The overall compensation vector of the photovoltaic panel; Denotes the Euclidean norm; This indicates taking the maximum value across all photovoltaic panels; This is the preset accuracy threshold.

[0086] Furthermore, the difference in deviation between any two nodes of the same photovoltaic panel is less than the preset misalignment threshold. in, , The first The first of the photovoltaic panels , The deviation vector of each node; This indicates taking the maximum value for any two nodes within the same photovoltaic panel; This is a preset misalignment threshold.

[0087] If the above conditions are still not met after the preset number of repetitions: in, This represents the number of iterations. This is the preset maximum number of iterations.

[0088] The central controller will then issue an alarm signal and suspend construction.

[0089] S427: Relock After meeting the accuracy requirements, re-drive the electronic locking components of all nodes in all installed partitions to lock them: in, For the first Locking state variables of an electronically controlled locking component; This indicates a locked state.

[0090] S43: Proceed to the next new partition installation. After completing the compensation operation for S42, proceed with the installation of the next new partition.

[0091] Before each new section is constructed, all previously installed sections are under control, thereby continuously controlling cumulative deformation throughout the entire construction process.

[0092] VI. Detailed Implementation of S5 After all construction is completed, send a final locking signal to all electrically controlled locking components: in, For the first Locking state variables of an electronically controlled locking component; Indicates a locked state; Indicates the serial numbers of all electrically controlled locking components; This represents the total number of electrically controlled locking components.

[0093] When the electronically controlled locking device is a power-off locking type, the power supply can be cut off after final locking to keep the locking device mechanically locked.

[0094] VII. Specific Implementation Methods for Optimizing the Comprehensive Indicators and Construction Sequence of Zones in S13 In S13, the entire installation area is divided into multiple zones and the construction sequence is determined. The following methods can be further adopted.

[0095] S131: Calculate the comprehensive index of the zoning The absolute value of the Gaussian curvature of the hyperbolic roof, the maximum included angle of the normal vectors of the four corner support points of the photovoltaic panel in the same zone, and the theoretical cumulative additional displacement sensitivity per unit area in the finite element model are obtained. Combined with the preset weights, the above three parameters are calculated to generate a zone comprehensive index to characterize the installation difficulty and deformation risk of each area of ​​the roof.

[0096] Let the first The mean absolute value of the Gaussian curvature of each candidate region is The maximum included angle between the normal vectors of the four corner support points of the photovoltaic panel is The theoretical cumulative additional displacement sensitivity per unit area is .in: in, For the first The maximum included angle between the normal vectors of the four corner support points of the photovoltaic panel within the candidate region; , The first Within the candidate region, the first , Normal vectors of each support point; Represents the dot product of vectors; Represents the vector norm; Represents the inverse cosine function; Indicates the first The maximum value is taken from all support point pairs within each candidate region.

[0097] or: in, For the first Theoretical cumulative additional displacement sensitivity per unit area of ​​each candidate region; For the first The area of ​​each candidate region; For the first Theoretical cumulative additional displacement vector for each node; Its norm; Indicates the first Sum all nodes within each candidate region; Indicates the first Take the maximum value of all nodes within the candidate region.

[0098] Normalize the above parameters: in, The mean of the absolute values ​​of Gaussian curvature after normalization; For the first The mean absolute value of the Gaussian curvature of each candidate region; , These are the minimum and maximum values ​​of the mean absolute value of Gaussian curvature in all candidate regions, respectively.

[0099] in, The maximum angle between the normalized normal vectors; For the first The maximum included angle between the normal vectors of each candidate region; , These are the minimum and maximum values ​​of the maximum angle between the normal vectors in all candidate regions, respectively.

[0100] in, Add displacement sensitivity to the normalized unit area theoretical cumulative value; For the first Sensitivity of each candidate region; , These represent the minimum and maximum sensitivity values ​​across all candidate regions, respectively.

[0101] The comprehensive index for each region is: in, For the first The comprehensive zoning indicators for each candidate region; These are the preset weights for Gaussian curvature, the angle between normal vectors, and displacement sensitivity, respectively. The meaning is the same as above.

[0102] in: in, All are positive numbers, and their sum is 1.

[0103] By comprehensively considering curvature, normal angle, and displacement sensitivity, high-risk and low-risk areas can be identified, providing a basis for differentiated zoning and compensation control.

[0104] S132: Divide the partitions according to the threshold sequence Set a threshold sequence for the comprehensive indicators of each region, arranged in ascending order of numerical value: in, This is a threshold sequence for the comprehensive index of the partition; The threshold number.

[0105] Roof areas with a comprehensive zoning index between two adjacent thresholds and that are spatially continuous are classified as the same zone: in, , For two adjacent thresholds; For the first The comprehensive zoning indicators for each candidate region; Number the threshold interval.

[0106] Simultaneously, spatial connectivity within the partition is required: in, For the region With the region Connectivity variables between them; Indicates the region With the region Spatial connectivity; This indicates that the connection is not made.

[0107] When the area With the region Adjacent and satisfying: in, , They are respectively regions ,area Comprehensive indicators for each region; The threshold for the difference between indicators; This represents the absolute value. Therefore, they are grouped into the same partition.

[0108] This makes the deformation characteristics similar within the same zone, facilitating the adoption of the same compensation strategy and improving construction efficiency and control accuracy.

[0109] S133: Establish construction sequence optimization objectives Based on the S132 partitions, an optimization objective for the construction sequence is constructed. This objective is composed of the misalignment at the partition boundaries, the theoretical cumulative peak value of additional displacement in each partition, and the number of times the installation equipment needs to be moved to different locations.

[0110] The construction sequence is as follows: in, This is the construction sequence vector; For the first The construction zone number; This represents the total number of partitions.

[0111] The target for the misalignment at the partition boundary is: in, Construction sequence The target for misalignment at the partition boundary; This represents the total number of partition boundaries; Number the boundaries; For the first A set of nodes on each boundary; , They are nodes , The deviation vector; Indicates the first Take the maximum value of any two nodes in a set of boundary nodes; This represents the Euclidean norm.

[0112] The theoretical cumulative additional peak displacement target for each zone is: in, Construction sequence The theoretical cumulative additional displacement peak target is as follows; Total number of partitions; For partition numbering; Indicates the first Nodes within a partition; For the first Theoretical cumulative additional displacement vector for each node; Indicates the first Take the maximum value of all nodes within each partition.

[0113] The target number of times the installed equipment can be moved between sites is: in, Construction sequence The target number of times the installed equipment can be moved to a new location; Numbering for the construction sequence; Total number of partitions; , The first The and the first The construction zone number; This refers to the distance between adjacent construction zones; This is the transition distance threshold; This is an indicator function that takes the value 1 if the condition within the parentheses is true, and 0 otherwise.

[0114] The overall optimization objective is: in, To comprehensively optimize the objective function; Indicates the construction sequence Find the minimum value; These are the weighting coefficients for the misalignment at the partition boundary, the peak displacement, and the number of transitions, respectively. , , The meaning is the same as above.

[0115] The weights of the above-mentioned target items are assigned based on the comprehensive index values ​​of each zone. Zones with higher comprehensive index values ​​have greater weights for misalignment and peak displacement, and smaller weights for equipment relocation frequency. in, These are the basic weights for the three objective terms; This is the adjustment coefficient; This is the average of the comprehensive indicators for all zones; All are greater than 0.

[0116] The constraints are: in, For the first The construction zone number; This is the set of all partition numbers; For the first The construction zone number; This indicates that different construction sequences correspond to different zones, thus avoiding redundant construction.

[0117] A multi-objective genetic algorithm or particle swarm optimization algorithm is used to solve the construction sequence of each partition with this optimization objective.

[0118] Through multi-objective optimization, the system can take into account misalignment control, peak displacement control, and equipment transfer efficiency, thereby achieving global optimization of the zonal construction sequence of hyperbolic roof photovoltaic panels.

[0119] S134: Write to Central Controller The partitioning results obtained in S132 and the optimized construction sequence in S133 are written into the central controller as the basis for simulation calculations in S1 and compensation operations in S4.

[0120] VIII. Specific Implementation Methods of Coordinate Measuring Devices The coordinate measuring device is an automatic tracking total station deployed around the perimeter of the roof. Reflective targets are set on each installation node, and the total station obtains the current actual spatial coordinates of each node by scanning each reflective target.

[0121] Automatic tracking total station measurement The coordinates of a node can be represented as: in, For the first The measured coordinate vectors of each node; This represents the coordinate vector of the total station. For total station to the first The slope distance of each node; For the first The horizontal angle of each node; For the first The zenith angle of each node; , These are the cosine and sine functions, respectively.

[0122] When using multiple total stations for intersection surveying, the least squares method can be used to solve the problem. in, For the first Least squares estimated coordinate vectors of each node; Let be the coordinate vector of the node to be determined; For the first total station for the first The observed coordinate vectors of each node; The number of total stations used in the intersection survey; Indicates to Summation using a total station; Denotes the Euclidean norm; This represents minimizing the objective function. .

[0123] IX. Specific Implementation Methods of the Influence Matrix In S32, the influence matrix is ​​a four-row, four-column matrix: in, For the influence matrix; For the first The change in the extension / retraction amount of the electronically controlled telescopic adjustment component affects the first... The influence coefficient of the contact force at each corner; Number the corners; This is the serial number for the electrically controlled telescopic adjustment component.

[0124] Among them, the diagonal elements represent the influence of the change in the extension or retraction of each electronically controlled telescopic adjustment component on the contact force at the corresponding corner: in, For the first The change in the extension / retraction amount of the electronically controlled telescopic adjustment component affects the first... The influence of contact force at each corner; For the first Contact force at each corner; For the first The telescopic adjustment of an electronically controlled telescopic component.

[0125] Off-diagonal elements represent the effect of changes in the extension / retraction of each electronically controlled telescopic adjustment component on the contact force at other corners: in, For the first The change in the extension / retraction amount of the electronically controlled telescopic adjustment component affects the first... The influence of contact force at each corner; For the first Contact force at each corner; For the first The telescopic adjustment amount of an electronically controlled telescopic component; This indicates a non-diagonal element.

[0126] When the coupling is weak, the influence matrix can be approximated as a diagonal matrix: in, These represent the effects of the changes in the extension and retraction of the four electrically controlled telescopic adjustment components on the contact force at the corresponding corners; 0 indicates that the effects of off-diagonal coupling are ignored.

[0127] When the coupling is strong, the inverse operation or damped least squares solution is performed using a complete four-row, four-column matrix.

[0128] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. A precise installation method for a hyperbolic flexible roof photovoltaic integrated structure, characterized in that, Includes the following steps: S1: Obtain three-dimensional measured data of the roof to establish a finite element model, divide the entire installation area into multiple partitions and determine the construction sequence, and simulate and calculate the theoretical cumulative additional displacement of each installed partition under the load of each subsequent construction stage. S2: Electrically adjustable connection devices are installed at each installation node, including electrically controlled telescopic adjustment components and electrically controlled locking components. Pressure sensors are installed at each corner of the photovoltaic panel, and coordinate measuring devices are installed, all of which are connected to the central controller. S3: When installing any photovoltaic panel, the central controller obtains the contact force signals fed back by each pressure sensor in real time, and sends independent telescopic drive signals to the electronically controlled telescopic adjustment components corresponding to each corner of the current photovoltaic panel in turn, until the contact force at the four corners of the same photovoltaic panel meets the preset balance condition, and then sends a locking signal to drive the electronically controlled locking components to lock the photovoltaic panel. S4: Before each unconstructed section is installed, the central controller performs a compensation operation on all installed sections: the current actual spatial coordinates of each node are obtained through the coordinate measuring device, the current cumulative displacement of each node is calculated based on the current actual spatial coordinates and the corresponding initial reference coordinates. The initial reference coordinates are the node coordinates collected when the section is installed and locked. The current cumulative displacement of each node is compared with the theoretical cumulative additional displacement corresponding to S1 to obtain the deviation. The locking state of the electronic locking device is released, and the electronic telescopic adjustment device is driven to perform reverse compensation based on the deviation until the deviation of all nodes in all installed sections meets the preset accuracy requirements. Then, the electronic locking device is driven to lock again. S5: After all construction is completed, send the final locking signal to all electrically controlled locking components.

2. The precise installation method for a hyperbolic flexible roof photovoltaic integrated structure according to claim 1, characterized in that: S1 specifically includes the following steps: S11: A 3D laser scanner is used to perform a full-field scan of the hyperbolic flexible roof to obtain roof point cloud data. The point cloud data is then processed for noise reduction, registration, and coordinate unification to generate an actual 3D curved surface model of the roof. S12: Based on the actual three-dimensional curved surface model of the roof, establish a finite element model including the roof structure, photovoltaic panels and installation nodes. The roof structure is simulated using shell elements, the photovoltaic panels are simulated using plate elements, and the installation nodes are simulated using spring elements or beam elements. S13: Based on the roof expansion joints, construction joints and photovoltaic panel array, the entire installation area is divided into multiple zones, each containing several photovoltaic panels, and the construction sequence of each zone is determined. S14: In the finite element model, the roof self-weight is applied as the initial dead load. Then, the photovoltaic panel units are activated in the construction sequence and the corresponding photovoltaic panel self-weight and construction load are applied. The simulation analysis of the entire construction process is carried out, and the theoretical cumulative additional displacement of each node in each installed section under each construction stage is calculated relative to the state when the section is installed and locked. S15: Store the theoretical cumulative additional displacement of each node at each construction stage in the central controller as the benchmark data for deviation comparison in S4.

3. The precise installation method for a hyperbolic flexible roof photovoltaic integrated structure according to claim 1, characterized in that: S2 specifically includes the following steps: S21: An electrically adjustable connection device is installed at each installation node. The lower end of the electrically adjustable connection device is fixedly connected to the roof structure, and the upper end is connected to the photovoltaic panel support frame. It is used to transfer the load between the roof structure and the photovoltaic panel and adjust the spatial position of the photovoltaic panel. S22: The electrically adjustable connection device includes an electrically adjustable telescopic adjustment component and an electrically adjustable locking component. The electrically adjustable telescopic adjustment component is used to drive the electrically adjustable connection device to generate axial telescopic movement when energized, so as to adjust the spatial position of the corresponding node. The electrically adjustable locking component is a power-off locking type, which is mechanically locked when the power is off and unlocked when the power is on. S23: A pressure sensor is installed at each of the four corners of each photovoltaic panel. The pressure sensor is located at the upper end of the electrically adjustable connection device and between the electrically adjustable connection device and the photovoltaic panel support frame. It is used to detect the contact force between the corner of the photovoltaic panel and the corresponding installation node in real time. S24: Set up a coordinate measuring device to collect the current actual spatial coordinates of each installation node; connect each electrically controlled telescopic adjustment component, each electrically controlled locking component, each pressure sensor and each coordinate measuring device to the central controller via wired or wireless means.

4. The precise installation method for a hyperbolic flexible roof photovoltaic integrated structure according to claim 1, characterized in that: S3 specifically includes the following steps: S31: Hoist the photovoltaic panel to be installed to the corresponding installation node, so that the four corners of the photovoltaic panel contact the upper end of the corresponding electronically adjustable connection device. The pressure sensor at each corner detects the contact force between the corner of the photovoltaic panel and the corresponding installation node in real time. S32: The central controller applies test drive signals to the electronically controlled telescopic adjustment components corresponding to the four corners of the photovoltaic panel to be installed with an initial adjustment step size of less than 5% of the total stroke of the electronically controlled telescopic adjustment component. It records the change in contact force of each pressure sensor and establishes an influence matrix characterizing the coupling relationship between the change in the telescopic amount of each electronically controlled telescopic adjustment component and the change in contact force at each corner. S33: The central controller receives the contact force signals fed back by the pressure sensors at the four corners of the photovoltaic panel in real time, and calculates the average value of the contact force at the four corners and the difference between the contact force at each corner and the average value; S34: Based on the influence matrix and the differences, calculate the adjustment amount required for each electronically controlled telescopic adjustment component to make the contact force at each corner tend to the average value through the inverse operation of the influence matrix or iterative algorithm; S35: The central controller sends independent telescopic drive signals to each electronically controlled telescopic adjustment component according to the adjustment amount, and repeats S33 to S34 until the maximum value of the four differences is less than the preset equalization threshold. S36: The central controller sends locking signals to the electronically controlled locking components at the four corners of the current photovoltaic panel to lock the current extension and retraction of each electronically controlled telescopic adjustment component, so that the current photovoltaic panel maintains a position with balanced contact force at the four corners.

5. The precise installation method for a hyperbolic flexible roof photovoltaic integrated structure according to claim 1, characterized in that: S4 specifically includes the following steps: S41: After each partition is installed and S3 locking is performed, the central controller collects the initial actual spatial coordinates of each node in the partition through the coordinate measuring device and stores the initial actual spatial coordinates as the initial reference coordinates of the node. S42: Before installing on any subsequent unfinished partition, the central controller performs a compensation operation on all installed partitions. The compensation operation includes: S421: With all installed partitions locked, collect the current actual spatial coordinates of each node in all installed partitions using a coordinate measuring device; S422: Release the locking status of all electrically controlled locking devices on all nodes of all installed partitions; S423: For each installed photovoltaic panel, the difference between the current actual spatial coordinates of each node and the corresponding initial reference coordinates is taken as the current cumulative displacement of that node. S424: Calculate the deviation between the current cumulative displacement of each node and the theoretical cumulative additional displacement of that node in the current construction stage as shown in S1. S425: Take the average value of the deviation of the four nodes of the same photovoltaic panel as the overall compensation amount of the photovoltaic panel, and drive the electronically controlled telescopic adjustment components of the four installation nodes of the photovoltaic panel to perform synchronous reverse compensation according to the overall compensation amount; S426: Repeat S423 to S425 until the average deviation of all photovoltaic panels in all installed zones is less than the preset accuracy threshold, and the difference between the deviations of any two nodes of the same photovoltaic panel is less than the preset misalignment threshold; if the above conditions are not met after the preset number of repetitions, the central controller will issue an alarm signal and suspend construction. S427: Re-drive all electronic locking devices of all nodes in all installed partitions to lock them; S43: After completing the compensation operation of S42, proceed with the installation of the next new partition.

6. The precise installation method for a hyperbolic flexible roof photovoltaic integrated structure according to claim 2, characterized in that: S13 divides the entire installation area into multiple zones and determines the construction sequence, specifically including: S131: Obtain the absolute value of the Gaussian curvature of the hyperbolic roof, the maximum included angle of the normal vectors of the four corner support points of the photovoltaic panel in the same zone, and the theoretical cumulative additional displacement sensitivity per unit area in the finite element model. Combine the above three parameters with the preset weights to generate a zone comprehensive index for characterizing the installation difficulty and deformation risk of each area of ​​the roof. S132: Set a threshold sequence of zoning comprehensive indicators arranged in order of numerical value, and divide the roof area where the zoning comprehensive indicators are between two adjacent thresholds and are spatially continuous into the same zone. S133: Based on the partitions defined in S132, construct an optimization objective for the construction sequence. This objective is composed of the misalignment at the partition boundary, the theoretical cumulative peak displacement of each partition, and the number of equipment relocations. Weights are assigned to the above objective items according to the comprehensive index values ​​of each partition. For partitions with higher comprehensive indices, the weights for misalignment and peak displacement are greater, while the weights for equipment relocations are smaller. A multi-objective genetic algorithm or particle swarm optimization algorithm is used to solve for the construction sequence of each partition using this optimization objective. S134: Write the partitioning results obtained in S132 and the optimized construction sequence in S133 into the central controller as the basis for simulation calculation in S1 and compensation operation in S4.

7. The precise installation method for a hyperbolic flexible roof photovoltaic integrated structure according to claim 1, characterized in that: The coordinate measuring device is an automatic tracking total station deployed around the perimeter of the roof. Reflective targets are set on each installation node, and the total station obtains the current actual spatial coordinates of each node by scanning each reflective target.

8. The precise installation method for a hyperbolic flexible roof photovoltaic integrated structure according to claim 4, characterized in that: In S32, the influence matrix is ​​a four-row, four-column matrix, where the diagonal elements represent the influence of the extension and retraction of each electronically controlled telescopic adjustment component on the contact force of the corresponding corner, and the off-diagonal elements represent the influence of the extension and retraction of each electronically controlled telescopic adjustment component on the contact force of other corners.

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