Method, apparatus, device, medium and program product for photovoltaic array semi-finished product installation

Abstract

Embodiments of the present application provide a photovoltaic array semi-finished product installation method, device, apparatus, medium and program product, which are applied to the photovoltaic technical field. The photovoltaic array semi-finished product installation method comprises: obtaining first pose information of a photovoltaic support group; controlling a picking module with a photovoltaic array semi-finished product to move to a pre-installation position, the pre-installation position being above a target installation position of the photovoltaic array semi-finished product; obtaining second pose information of the picking module in the pre-installation position and third pose information of the photovoltaic array semi-finished product picked by the picking module in the pre-installation position; determining a relative pose relationship between the picking module and the photovoltaic array semi-finished product according to the second pose information and the third pose information; and controlling the picking module to install the photovoltaic array semi-finished product to the photovoltaic support group based on the first pose information and the relative pose relationship. The method can solve the problem of low installation accuracy of the photovoltaic array semi-finished product and the photovoltaic support group.

Description

Technical Field

[0001] This application belongs to the field of photovoltaic technology, and in particular relates to a method, equipment, device, medium and program product for installing photovoltaic array semi-finished products. Background Technology

[0002] In the automated installation process of photovoltaic (PV) array semi-finished products, PV array semi-finished product installation equipment is typically used to pick up the PV array semi-finished products and install them onto the PV support assembly. However, in actual installation, the relative position between the picking module of the PV array semi-finished product installation equipment and the PV array semi-finished product is uncertain. Since the picking module is the direct control object of the PV array semi-finished product installation equipment, this results in the PV array semi-finished product and the PV support assembly not achieving precise docking, affecting the installation accuracy of both the PV array semi-finished product and the PV support assembly, and making it difficult to meet installation requirements. Summary of the Invention

[0003] This application provides a method, equipment, device, medium, and program for installing photovoltaic array semi-finished products, which can solve the problem of low installation accuracy of photovoltaic array semi-finished products and photovoltaic support groups.

[0004] In a first aspect, embodiments of this application provide a method for installing a photovoltaic array semi-finished product, the photovoltaic array semi-finished product comprising multiple photovoltaic panels, the method comprising:

[0005] Obtain the first pose information of the photovoltaic support assembly;

[0006] The pickup module, which picks up the photovoltaic array semi-finished product, is moved to the pre-installation position, which is located above the target installation position of the photovoltaic array semi-finished product.

[0007] Obtain the second pose information of the pickup module in the pre-installation position and the third pose information of the photovoltaic array semi-finished product picked up by the pickup module in the pre-installation position;

[0008] Based on the second and third pose information, the relative pose relationship between the pickup module and the photovoltaic array semi-finished product is determined;

[0009] Based on the first pose information and the relative pose relationship, the control pickup module installs the photovoltaic array semi-finished product onto the photovoltaic support group.

[0010] In some possible implementations of the embodiments of this application, controlling the pickup module, which has picked up the photovoltaic array semi-finished product, to move to the pre-installation position includes:

[0011] Based on the first pose information of the photovoltaic support group, determine the first target pose information of the pickup module at the pre-installation position;

[0012] Based on the first target pose information, control the pickup module to move to the pre-installation position.

[0013] In some possible implementations of this application, determining the first target pose information of the picking module at the pre-installation position based on the first pose information of the photovoltaic support group includes:

[0014] The first pose information of the photovoltaic support group is superimposed with the first preset height value to obtain the first target pose information of the picking module.

[0015] In some possible implementations of this application, determining the first target pose information of the picking module at the pre-installation position based on the first pose information of the photovoltaic support group includes:

[0016] Based on the first pose information of the photovoltaic support group and the pre-calibrated installation conversion relationship between the photovoltaic support group and the photovoltaic array semi-finished product, the second target pose information of the photovoltaic array semi-finished product at the target installation position is determined.

[0017] The second target pose information of the photovoltaic array semi-finished product is superimposed with the second preset height value to obtain the first target pose information of the picking module.

[0018] In some possible implementations of the embodiments of this application, obtaining the second pose information of the pickup module in the pre-installation position includes:

[0019] The first target pose information of the picking module is determined as the second pose information of the picking module.

[0020] In some possible implementations of the embodiments of this application, obtaining the second pose information of the pickup module in the pre-installation position includes:

[0021] When the picking module is moved to the pre-installation position, acquire the first point cloud data of the picking module;

[0022] Based on the first point cloud data, the second pose information of the picking module is determined.

[0023] In some possible implementations of this application's embodiments, obtaining the third pose information of the photovoltaic array semi-finished product picked up by the pickup module at the pre-installation position includes:

[0024] With the pickup module moved to the pre-installation position, the second point cloud data of the photovoltaic array semi-finished product is acquired;

[0025] Based on the second point cloud data, the third pose information of the photovoltaic array semi-finished product is determined.

[0026] In some possible implementations of the embodiments of this application, based on the first pose information and the relative pose relationship, the control of the picking module to install the photovoltaic array semi-finished product onto the photovoltaic support group includes:

[0027] Based on the first pose information of the photovoltaic support group and the pre-calibrated installation conversion relationship between the photovoltaic support group and the photovoltaic array semi-finished product, the second target pose information of the photovoltaic array semi-finished product at the target installation position is determined.

[0028] Based on the second target pose information and relative pose relationship of the photovoltaic array semi-finished product, the third target pose information of the picking module is determined;

[0029] The photovoltaic array semi-finished product is installed onto the photovoltaic support group based on the third target pose information control and picking module.

[0030] In some possible implementations of the embodiments of this application, the photovoltaic array semi-finished product installation method further includes:

[0031] Before the pickup module is moved to the pre-installation position, based on the first pose information of the photovoltaic support group, the pickup module is moved to the safety suspension position, which is located above the pre-installation position.

[0032] Secondly, embodiments of this application provide a photovoltaic array semi-finished product installation device, which includes:

[0033] Installation main body;

[0034] The pickup module is used to pick up the semi-finished photovoltaic array, which includes multiple photovoltaic panels.

[0035] A movable module, located on the installation body and connected to the pickup module, is used to move the pickup module;

[0036] A control system for performing a photovoltaic array semi-finished product installation method as described in any of the first aspects.

[0037] Thirdly, embodiments of this application provide a photovoltaic array semi-finished product installation device, the device comprising:

[0038] The first acquisition module is used to acquire the first pose information of the photovoltaic support group;

[0039] The first control module is used to control the pickup module, which picks up the photovoltaic array semi-finished product, to move to the pre-installation position, which is located above the target installation position of the photovoltaic array semi-finished product.

[0040] The second acquisition module is used to acquire the second pose information of the pickup module in the pre-installation position and the third pose information of the photovoltaic array semi-finished product picked up by the pickup module in the pre-installation position.

[0041] The first determining module is used to determine the relative pose relationship between the picking module and the photovoltaic array semi-finished product based on the second pose information and the third pose information.

[0042] The second control module is used to control the picking module to install the photovoltaic array semi-finished product onto the photovoltaic support group based on the first pose information and the relative pose relationship.

[0043] Fourthly, embodiments of this application provide an electronic device, the device comprising: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements a photovoltaic array semi-finished product installation method as described in any of the first aspects.

[0044] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the photovoltaic array semi-finished product installation method as described in any of the first aspects.

[0045] In a sixth aspect, embodiments of this application provide a computer program product, which includes a computer program or instructions, which, when executed by a processor, implement the photovoltaic array semi-finished product installation method as described in any of the first aspects.

[0046] The photovoltaic array semi-finished product installation method, equipment, apparatus, medium, and program product of this application embodiment control the pickup module to move to the pre-installation position, and acquire the second pose information of the pickup module and the third pose information of the photovoltaic array semi-finished product at the pre-installation position. The relative pose relationship between the pickup module and the photovoltaic array semi-finished product determined by this can accurately quantify the pose deviation during the pickup process of the photovoltaic array semi-finished product. Subsequently, based on the first pose information of the photovoltaic support group and the relative pose relationship, the pose of the pickup module is adjusted, which can compensate for the pose deviation during the pickup process of the photovoltaic array semi-finished product, and finally achieve precise docking between the photovoltaic array semi-finished product and the photovoltaic support group, effectively improving the installation accuracy of the photovoltaic array semi-finished product and the photovoltaic support group. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A schematic flowchart of a photovoltaic array semi-finished product installation method provided in some embodiments of this application is shown;

[0049] Figure 2This application shows installation structure diagrams of photovoltaic array semi-finished products and photovoltaic support assemblies provided in some embodiments;

[0050] Figure 3 A flowchart illustrating a specific implementation of step 120 provided in some embodiments of this application is shown;

[0051] Figure 4 The diagram illustrates a specific implementation of step 1201 provided in some embodiments of this application;

[0052] Figure 5 A flowchart illustrating the method for controlling the movement of the pickup module in a photovoltaic array semi-finished product installation method provided in some embodiments of this application is shown.

[0053] Figure 6 A flowchart illustrating a specific implementation of step 150 provided in some embodiments of this application is shown;

[0054] Figure 7 The present application provides structural diagrams of photovoltaic array semi-finished product installation equipment according to some embodiments;

[0055] Figure 8 Structural diagrams of photovoltaic array semi-finished product installation equipment provided in some other embodiments of this application are shown;

[0056] Figure 9 This application provides schematic diagrams of the architecture of photovoltaic array semi-finished product installation equipment according to some embodiments;

[0057] Figure 10 The present application provides a schematic diagram of the structure of a photovoltaic array semi-finished product installation device according to some embodiments;

[0058] Figure 11 The diagram shows a schematic representation of the structure of an electronic device provided in some embodiments of this application. Detailed Implementation

[0059] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0061] To address the problems of existing technologies, this application provides a method, equipment, apparatus, medium, and program product for installing semi-finished photovoltaic arrays. The method for installing semi-finished photovoltaic arrays provided in this application will be described first.

[0062] Figure 1 A schematic flowchart illustrating the photovoltaic array semi-finished product installation method provided in some embodiments of this application is shown. For example... Figure 1 As shown, the photovoltaic array semi-finished product installation method includes steps 110 to 150.

[0063] Step 110: Obtain the first pose information of the photovoltaic support group;

[0064] Step 120: Control the picking module that picks up the photovoltaic array semi-finished product to move to the pre-installation position, which is located above the target installation position of the photovoltaic array semi-finished product;

[0065] Step 130: Obtain the second pose information of the pickup module in the pre-installation position and the third pose information of the photovoltaic array semi-finished product picked up by the pickup module in the pre-installation position.

[0066] Step 140: Determine the relative pose relationship between the picking module and the photovoltaic array semi-finished product based on the second pose information and the third pose information;

[0067] Step 150: Based on the first pose information and the relative pose relationship, control the picking module to install the photovoltaic array semi-finished product onto the photovoltaic support group.

[0068] Therefore, by controlling the pickup module to move to the pre-installation position and acquiring the second pose information of the pickup module and the third pose information of the photovoltaic array semi-finished product at the pre-installation position, the relative pose relationship between the pickup module and the photovoltaic array semi-finished product can be determined, accurately quantifying the pose deviation between the pickup module and the photovoltaic array semi-finished product during the pickup process. Subsequently, based on the first pose information and relative pose relationship of the photovoltaic support assembly, the pose of the pickup module is adjusted to compensate for the pose deviation during the pickup process of the photovoltaic array semi-finished product, ultimately achieving precise docking between the photovoltaic array semi-finished product and the photovoltaic support assembly, effectively improving the installation accuracy of the photovoltaic array semi-finished product and the photovoltaic support assembly.

[0069] It should be noted that, in the embodiments of the application, controlling the movement of the pickup module can be interpreted as causing the pickup module to move. Specifically, this can be achieved by directly controlling the pickup module, or by controlling other parts of the photovoltaic array semi-finished product installation equipment to cause the pickup module to move.

[0070] The steps described above are explained in detail below.

[0071] First, regarding step 110, the photovoltaic support assembly involved in this application embodiment is used to support and fix the photovoltaic array semi-finished product. For example... Figure 2 As shown, the photovoltaic array semi-finished product 210 includes multiple photovoltaic panels 2101 arranged in a certain form. These photovoltaic panels 2101 are interconnected by fixing means, for example, but not limited to, at least one connecting beam is provided on the back of the photovoltaic panel 2101, and the multiple photovoltaic panels 2101 are connected and fixed by the connecting beam. The photovoltaic support assembly 220 includes multiple photovoltaic supports 2201, and the top of each photovoltaic support 2201 is provided with a support structure adapted to the bottom contour (e.g., the connecting beam) of the photovoltaic array semi-finished product 210, and is mechanically connected to the photovoltaic array semi-finished product 210 by connectors such as bolts and snap-fit ​​devices. In this way, the photovoltaic support assembly 220 can stably hold the photovoltaic array semi-finished product 210 in a set position.

[0072] The first pose information refers to information related to the position and attitude of the photovoltaic support group in three-dimensional space. The first pose information of the photovoltaic support group 220 may include, but is not limited to, the pose information of multiple photovoltaic supports 2201 within the photovoltaic support group 220, and / or, the pose information of the mounting surface composed of multiple photovoltaic supports 2202 (e.g., the pose information of the central axis of the mounting surface). Here, the mounting surface refers to the surface where the multiple photovoltaic supports and the photovoltaic array semi-finished product are located.

[0073] In some embodiments of this application, obtaining the first pose information of the photovoltaic support group may specifically include: acquiring the support measurement point cloud data of the photovoltaic support group through a point cloud acquisition device; and determining the first pose information of the photovoltaic support group based on the support measurement point cloud data. The point cloud acquisition device includes, but is not limited to, laser scanning equipment, structured light scanning equipment, and depth cameras.

[0074] In some non-limiting embodiments of this application, a laser beam can be emitted by a lidar to collect three-dimensional point cloud data of the surface of the photovoltaic support group, thereby obtaining the support measurement point cloud data of the photovoltaic support group in the radar coordinate system. Optionally, the support measurement point cloud data can be sequentially filtered and denoised, and then registered, i.e., registered with the point cloud data of the ideal model of the support to obtain optimized point cloud data. Subsequently, according to the preset transformation relationship between the radar coordinate system and the base coordinate system, the optimized point cloud data can be transformed into the base coordinate system to obtain the support point cloud data of the photovoltaic support group in the base coordinate system. Finally, based on the support point cloud data, the first pose information of the photovoltaic support group in the base coordinate system is determined. The point cloud registration process can employ at least one of the following algorithms: Iterative ClosestPoint (ICP) algorithm and Normal Distributions Transform (NDT) algorithm.

[0075] It should be noted that the basic coordinate system involved in the embodiments of this application can be the coordinate system of a point cloud acquisition device itself, so that the measurement data collected by the point cloud acquisition device does not need to be transformed into coordinates; it can also be a preset theoretical coordinate system, such as a coordinate system constructed with the top center of the photovoltaic array semi-finished product installation equipment as a reference; or it can be any other suitable coordinate system, such as the geodetic coordinate system. Based on this, users can choose any of the above coordinate systems as the basic coordinate system according to actual application scenarios and needs. This application does not restrict the specific selection of the basic coordinate system.

[0076] As a non-limiting example, determining the first pose information of the photovoltaic support assembly in the base coordinate system based on the support point cloud data can specifically include: determining the rotational change of the central axis of the mounting surface of the photovoltaic support assembly relative to the corresponding coordinate axis of the base coordinate system and the position information of the two endpoints of the central axis based on the point cloud data of each photovoltaic support; determining the rotational change of the central axis as the pose information of the first pose information of the photovoltaic support assembly; and determining the position information of the two endpoints of the central axis as the position information of the first pose information of the photovoltaic support assembly. It should be noted that, in addition to the central axis of the mounting surface, the first pose information can also include the pose information of any other part of the photovoltaic support assembly, which is not limited here.

[0077] It is worth noting that the basic coordinate system in this application embodiment can be the equipment coordinate system of the photovoltaic array semi-finished product installation equipment, or it can be the geodetic coordinate system covering the entire photovoltaic array semi-finished product installation site, without any specific limitation.

[0078] Secondly, regarding step 120, the picking module in this embodiment refers to the component of the photovoltaic array semi-finished product installation equipment that performs the picking and placing operation of the photovoltaic array semi-finished product, such as a lifting device or other picking modules connected to the mechanical motion unit. The target installation position refers to the position where the photovoltaic array semi-finished product and the photovoltaic support assembly complete the final docking. At the target installation position, the photovoltaic array semi-finished product can achieve precise mechanical docking with the photovoltaic support assembly.

[0079] Understandably, if the pickup module's pose adjustment is performed the moment it picks up the photovoltaic array semi-finished product, various factors may cause the pose to change again during handling, requiring repeated adjustments. However, performing pose correction at a pre-installation position close to the target installation location allows for more targeted adjustments, avoiding multiple repetitive adjustments that might result from premature adjustments, thus saving adjustment time and improving the overall installation speed of the photovoltaic array semi-finished product. If the pickup module moves the photovoltaic array semi-finished product to the target installation location before pose correction, pose deviations during pickup may cause the edge of the photovoltaic array semi-finished product to collide with the photovoltaic support assembly. Therefore, by moving the pickup module and the photovoltaic array semi-finished product to a pre-installation position above the target installation location, the overall installation speed of the photovoltaic array semi-finished product can be improved while maintaining a safe distance from the photovoltaic support assembly. This provides correction space for the pose correction of the photovoltaic array semi-finished product, ensuring that there is no physical interference between the photovoltaic array semi-finished product and the photovoltaic support assembly during pose correction, reducing the risk of collision between the photovoltaic array semi-finished product and the photovoltaic support assembly. Finally, if it is necessary to obtain the third pose information of the photovoltaic array semi-finished product based on measurement, and the measuring equipment such as lidar is generally set below the target installation position of the photovoltaic array semi-finished product, then if the measuring range of the measuring equipment is small, setting the pre-installation position near the target installation position can ensure that the photovoltaic array semi-finished product is within the measuring range of the measuring equipment, thereby enabling accurate acquisition of the third pose information of the photovoltaic array semi-finished product.

[0080] In some non-limiting embodiments of this application, the pre-installation position may be located within a preset range above the target installation position, such as, but not limited to, 0.3 to 0.5 m, to improve the overall installation speed of the photovoltaic array semi-finished product while ensuring that the photovoltaic array semi-finished product does not physically interfere with the photovoltaic support assembly during pose correction. Furthermore, if it is necessary to obtain the second pose information of the pickup module at the pre-installation position and / or the third pose information of the photovoltaic array semi-finished product picked up by the pickup module at the pre-installation position based on measurement, then the pre-installation position needs to be set within the measurement range of the measuring device, such as a lidar; that is, the pre-installation position is determined according to the measurement range of the measuring device.

[0081] In order to accurately move the pickup module to the pre-installation location, such as Figure 3 As shown, the step 120 above involves controlling the pickup module, which picks up the photovoltaic array semi-finished product, to move to the pre-installation position, which may specifically include steps 1201 to 1202.

[0082] Step 1201: Based on the first pose information of the photovoltaic support group, determine the first target pose information of the picking module at the pre-installation position.

[0083] The first target pose information includes the pose state that the picking module should achieve in the base coordinate system when it is in the pre-installation position, specifically including target position information and target attitude information.

[0084] The first target pose information of the pickup module at the pre-installation position is matched with the first pose information of the photovoltaic support group. Specifically, the target position information of the pickup module at the pre-installation position can be determined based on the position information of the photovoltaic support group, and the target pose information of the pickup module at the pre-installation position can be determined based on the pose information of the photovoltaic support group.

[0085] Step 1202: Based on the first target pose information, control the picking module to move to the pre-installation position.

[0086] Therefore, by controlling the movement of the pickup module through the first target pose information determined by the first pose information of the photovoltaic support group, the pickup module can be accurately moved to the pre-installation position.

[0087] In some embodiments of this application, since the mounting surfaces of the pickup module and the photovoltaic support group are basically parallel at the pre-installation position, in order to quickly determine the first target pose information of the pickup module, the above step 1201 may specifically include: superimposing the first pose information of the photovoltaic support group with the first preset height value to obtain the first target pose information of the pickup module.

[0088] The first preset height value is a fixed height value set in advance. This first preset height value represents the vertical distance of the pre-installation position of the pickup module relative to the photovoltaic support assembly, for example, the vertical distance of the pre-installation position relative to the mounting surface of the photovoltaic support assembly. An exemplary range for the first preset height value can be 0.35–0.55 m, or it can be determined based on the measurement range of the measuring equipment.

[0089] For example, the first preset height value can be determined based on the user's practical experience and the actual dimensions of the photovoltaic array semi-finished product. Specifically, the height of the photovoltaic array semi-finished product can be measured first, and then an appropriate safety distance can be added to this value to obtain the first preset height value. For example, if the maximum height of the photovoltaic array semi-finished product is measured to be 0.03 meters, and based on user experience, it is determined that when the maximum height of the photovoltaic array semi-finished product is 0.03 meters, the safety distance is 0.47 meters. Adding the two together, the final first preset height value is 0.5 meters.

[0090] In some non-limiting embodiments of this application, the first pose information of the photovoltaic support assembly is... By superimposing a first preset height value Δz1 along the z-axis, the first target pose information of the picking module is obtained. Specifically, it can be expressed by the following formula (1):

[0091]

[0092] in, yes The rotation matrix is ​​used to describe the rotational attitude of the photovoltaic support assembly relative to the base coordinate system. yes The translation vector, ΔT1, is used to describe the translational position of the photovoltaic support assembly relative to the base coordinate system, where ΔT1 = [0, 0, Δz1]. T Δz1 can be taken as 0.5m. Therefore, by superimposing the first pose information of the photovoltaic support group with the first preset height value, the first target pose information of the picking module can be quickly and accurately determined, reducing manual intervention and computational complexity. The first target pose information of the picking module provides a clear target for subsequent control of the picking module to move to the pre-installation position, thereby improving the efficiency of the entire photovoltaic array semi-finished product installation process.

[0093] In other embodiments of this application, in order to quickly and accurately determine the first target pose information of the picking module, such as Figure 4 As shown, step 1201 can specifically include steps 12011 and 12012.

[0094] Step 12011: Based on the first pose information of the photovoltaic support group and the pre-calibrated installation conversion relationship between the photovoltaic support group and the photovoltaic array semi-finished product, determine the second target pose information of the photovoltaic array semi-finished product at the target installation position.

[0095] The installation transformation relationship, obtained through pre-calibration, represents the relative pose of the photovoltaic support assembly and the photovoltaic array semi-finished product during installation. It reflects the positional and orientation changes that must be satisfied between the photovoltaic array semi-finished product and the photovoltaic support assembly to accurately install them onto the photovoltaic support assembly. The installation transformation relationship can be represented by a transformation matrix or a set of transformation parameters.

[0096] For example, photovoltaic support groups and photovoltaic array semi-finished products are selected, and their relative positions and attitudes in the installed state are measured using point cloud acquisition equipment. The measured relative positions and attitudes are processed to obtain a transformation matrix or a set of transformation parameters, which represents the installation transformation relationship. Alternatively, ideal point cloud data of photovoltaic support groups and photovoltaic array semi-finished products are obtained based on mechanical drawings and design parameters, and the installation transformation relationship between the two is obtained based on the ideal point cloud data of both.

[0097] Step 12012: Superimpose the second target pose information of the photovoltaic array semi-finished product with the second preset height value to obtain the first target pose information of the picking module.

[0098] The second preset height value is a fixed height value set in advance. This second preset height value represents the vertical distance between the pre-installation position of the pickup module and the target installation position of the photovoltaic array semi-finished product. As mentioned above, an exemplary range for the second preset height value may include 0.3–0.5 m, or it may be determined based on the measurement range of the measuring equipment.

[0099] It is worth noting that the first preset height value and the second preset height value can be the same or different. For example, during the installation of the photovoltaic array semi-finished product, the photovoltaic array semi-finished product is located above the photovoltaic support assembly. Therefore, the second preset height value can be less than the first preset height value.

[0100] Therefore, by utilizing pre-calibrated installation conversion relationships, complex measurements and calculations are avoided during each installation, improving the efficiency and accuracy of determining the second target pose information of the photovoltaic array semi-finished product. Subsequently, the second target pose information is superimposed with a second preset height value to determine the first target pose information. This superposition method is simple and direct, enabling rapid determination of the first target pose information of the pickup module and improving the installation efficiency of the photovoltaic array semi-finished product.

[0101] In some non-limiting embodiments of this application, when the photovoltaic array semi-finished product is installed on the photovoltaic support assembly, there is a fixed positional transformation relationship between the photovoltaic array semi-finished product and the photovoltaic support assembly, and the transformation matrix between the photovoltaic array semi-finished product and the photovoltaic support assembly can be obtained through pre-calibration. Then the second target pose information of the photovoltaic array semi-finished product at the target installation position It can be expressed by the following formula (2):

[0102]

[0103] in, This indicates the first pose information of the photovoltaic support assembly; The rotation matrix representing the pose information of the second target is used to describe the rotational attitude of the photovoltaic array semi-finished product relative to the base coordinate system at the target installation position. The translation vector representing the pose information of the second target is used to describe the translation position of the photovoltaic array semi-finished product relative to the base coordinate system at the target installation position.

[0104] Thus, the pose information of the second target It can be represented by the following vector form: [x,y,z,rx,ry,rz] T Where x, y, z represent the translation of the photovoltaic array semi-finished product in three-dimensional space relative to the origin of the basic coordinate system, corresponding to the three coordinate axes of the Cartesian coordinate system respectively; rx, ry, rz represent the rotation angles of the photovoltaic array semi-finished product around the x, y, z axes of the basic coordinate system, used to describe the attitude of the photovoltaic array semi-finished product in three-dimensional space.

[0105] The second target pose information of the photovoltaic array semi-finished product at the target installation position. By superimposing a second preset height value Δz2 along the z-axis, the first target pose information of the pickup module is obtained. Specifically, this can be expressed by the following formula (3):

[0106]

[0107] Where ΔT2=[0,0,Δz2] T Δz2 can be 0.5m.

[0108] In some embodiments of this application, the pickup module can be a lifting device, thus determining the first target pose information of the pickup module. Then, combining kinematic calculations, the first target pose information of the spreading device is obtained. The rope length control parameters for each lifting rope are converted. Then, based on the converted rope length control parameters, the lifting equipment is controlled to descend to the pre-installation position.

[0109] In other embodiments of this application, the pickup module can be other types of pickup modules connected to the mechanical motion unit, thus determining the first target pose information of the pickup module. Then, based on the kinematic model algorithm, the angle or displacement that the mechanical motion unit needs to rotate can be calculated by inverse kinematics. Then, the mechanical motion unit can be controlled by driving motors to make the picking module reach the pre-installation position.

[0110] In some embodiments of this application, obtaining the second pose information of the pickup module in the pre-installation position in step 130 above may specifically include: determining the first target pose information of the pickup module as the second pose information of the pickup module.

[0111] The second pose information refers to the position and attitude information of the pickup module when it is actually in the pre-installation position. The first target pose information refers to the ideal position coordinates and attitude angles that the pickup module should have in the pre-installation position.

[0112] In practice, based on the first target pose information, the pickup module can be controlled to reach a pre-set target position and present the target pose. Ideally, the first target pose information is equivalent to the actual second pose information of the pickup module.

[0113] Therefore, the need for additional measurement equipment to perform pose measurement and calculation after the pickup module reaches the pre-installation position is avoided. The first target pose information is directly used as the second pose information, reducing the workload of data measurement and processing, improving the efficiency of determining the second pose information of the pickup module, and increasing the installation efficiency of the subsequent photovoltaic array semi-finished products. In some other embodiments of this application, obtaining the second pose information of the pickup module at the pre-installation position in step 130 may specifically include: obtaining the first point cloud data of the pickup module when it moves to the pre-installation position; and determining the second pose information of the pickup module based on the first point cloud data.

[0114] The second pose information of the picking module includes the position and pose information of the picking module in three-dimensional space.

[0115] For example, a point cloud acquisition device can be used to collect 3D point cloud data of the pickup module surface, thereby obtaining the measurement point cloud data of the pickup module in the radar coordinate system. Next, the measurement point cloud data of the pickup module is subjected to filtering and noise reduction processing and point cloud registration processing in sequence. Subsequently, according to the preset transformation relationship between the radar coordinate system and the base coordinate system, the registered point cloud data is transformed into the base coordinate system to obtain the point cloud data of the pickup module in the base coordinate system, i.e., the first point cloud data. Finally, based on the first point cloud data, the second pose information of the pickup module in the base coordinate system is determined.

[0116] As a non-limiting example, determining the second pose information of the pickup module in the base coordinate system based on the first point cloud data can specifically include: determining the rotational change of the central axis of the pickup module surface relative to the corresponding coordinate axis in the base coordinate system and the position information of the two endpoints of the central axis based on the first point cloud data. Then, the rotational change of the central axis of the pickup module surface can be determined as the pose information of the second pose information, and the position information of the two endpoints of the central axis can be determined as the position information of the second pose information. The aforementioned pickup module surface can include a pickup surface, such as the adsorption surface of a suction cup type pickup module. It should be noted that the second pose information can also include the pose information of any other part of the pickup module, which is not limited here.

[0117] Therefore, based on the first point cloud data of the picking module, the second pose information of the picking module in three-dimensional space can be accurately determined, which increases the control precision of the picking module and thus effectively improves the installation precision and accuracy of the photovoltaic array semi-finished product.

[0118] In some embodiments of this application, obtaining the third pose information of the photovoltaic array semi-finished product picked up by the picking module at the pre-installation position in step 130 may specifically include: obtaining the second point cloud data of the photovoltaic array semi-finished product when the picking module moves to the pre-installation position; and determining the third pose information of the photovoltaic array semi-finished product based on the second point cloud data.

[0119] For example, a point cloud acquisition device can be used to collect three-dimensional point cloud data of the surface of a photovoltaic array semi-finished product, thereby obtaining the measurement point cloud data of the photovoltaic array semi-finished product in the radar coordinate system. Next, the measurement point cloud data of the photovoltaic array semi-finished product is subjected to filtering and noise reduction processing and point cloud registration processing in sequence. Subsequently, according to the preset transformation relationship between the radar coordinate system and the base coordinate system, the registered point cloud data is transformed into the base coordinate system to obtain the point cloud data of the photovoltaic array semi-finished product in the base coordinate system, i.e., the second point cloud data. Finally, based on the second point cloud data, the third pose information of the photovoltaic array semi-finished product in the base coordinate system is determined.

[0120] As a non-limiting example, determining the third pose information of the photovoltaic array semi-finished product in the base coordinate system based on the second point cloud data can specifically include: determining the rotational change of the central axis of the photovoltaic array semi-finished product surface relative to the corresponding coordinate axis in the base coordinate system and the position information of the two endpoints of the central axis based on the second point cloud data. Then, the rotational change of the central axis of the photovoltaic array semi-finished product surface can be determined as the pose information of the third pose information of the photovoltaic array semi-finished product, and the position information of the two endpoints of the central axis of the photovoltaic array semi-finished product can be determined as the position information of the third pose information of the photovoltaic array semi-finished product. The surface of the photovoltaic array semi-finished product can include the surface opposite to the photovoltaic support assembly. It should be noted that the third pose information can also include the pose information of any other part of the photovoltaic array semi-finished product, which is not limited here.

[0121] Therefore, based on the second point cloud data of the photovoltaic array semi-finished product, the third pose information of the photovoltaic array semi-finished product in three-dimensional space can be accurately determined. Based on the accurate third pose information, the pose correction of the photovoltaic array semi-finished product is carried out, which effectively improves the installation accuracy and precision of the photovoltaic array semi-finished product.

[0122] Next, in step 140, the relative pose relationship between the pickup module and the photovoltaic array semi-finished product can be determined by the pose transformation matrix between the pickup module and the photovoltaic array semi-finished product. Specifically, the pose transformation matrix between the pickup module and the photovoltaic array semi-finished product can be obtained based on the second pose information of the pickup module and the third pose information of the photovoltaic array semi-finished product.

[0123] Specifically, the pose transformation matrix of the pickup module and the photovoltaic array semi-finished product at the pre-installation position. It can be determined by the following formula (4):

[0124]

[0125] in, This represents the third pose information of the photovoltaic array semi-finished product. This represents the second pose information of the picking module.

[0126] It is understandable that the pose transformation matrix remains constant from the time the picking module picks up the photovoltaic array semi-finished product until the photovoltaic array semi-finished product is installed at the target installation position.

[0127] In some embodiments of this application, such as Figure 6 As shown, step 150 above may specifically include steps 1501 to 1503.

[0128] Step 1501: Based on the first pose information of the photovoltaic support group and the pre-calibrated installation conversion relationship between the photovoltaic support group and the photovoltaic array semi-finished product, determine the second target pose information of the photovoltaic array semi-finished product at the target installation position.

[0129] For example, the second target pose information of the photovoltaic array semi-finished product at the target installation position. It can be determined using the above formula (1).

[0130] Step 1502: Based on the second target pose information and relative pose relationship of the photovoltaic array semi-finished product, determine the third target pose information of the picking module.

[0131] Among them, the third target pose information of the picking module is the pose that the picking module needs to achieve in order to accurately install the photovoltaic array semi-finished product to the target installation position.

[0132] For example, the third target pose information of the picking module It can be expressed by the following formula (5):

[0133]

[0134] in, This represents the pose information of the second target at the target installation location of the photovoltaic array semi-finished product. This represents the pose transformation matrix corresponding to the relative pose relationship.

[0135] Step 1503: Control the picking module based on the third target pose information to install the photovoltaic array semi-finished product onto the photovoltaic support group.

[0136] In some embodiments of this application, the pickup module can be a lifting device, thus determining the third target pose information of the pickup module. Then, combining kinematic calculations, the pose information of the third target of the lifting device is obtained. The rope length control parameters for each lifting rope are converted. Then, based on the converted rope length control parameters, the lifting equipment is controlled to fall to the pose state corresponding to the pose information of the third target, thereby accurately installing the photovoltaic array semi-finished product onto the photovoltaic support assembly.

[0137] In other embodiments of this application, the pickup module can be other types of pickup modules connected to the mechanical motion unit, thus determining the third target pose information of the pickup module. Then, based on the kinematic model algorithm, the angle or displacement that the mechanical motion unit needs to rotate can be calculated by inverse kinematics, and then the joint motor and other controls can be used to drive the mechanical motion unit to reach the pose state corresponding to the pose information of the third target.

[0138] Therefore, by utilizing pre-calibrated installation transformation relationships to determine the pose information of the second target, the workload of measurement and calculation during each installation is reduced, improving the efficiency and accuracy of determining the pose information of the third target. This helps ensure that the pickup module can install the photovoltaic array semi-finished product onto the photovoltaic support assembly in the correct position and orientation, improving the accuracy and success rate of photovoltaic array semi-finished product installation.

[0139] In some embodiments of this application, to ensure safety during the installation of the photovoltaic array semi-finished product, the photovoltaic array semi-finished product installation method further includes, before controlling the pickup module to move to the pre-installation position, controlling the pickup module to move to the safety suspension position based on the first pose information of the photovoltaic support group, wherein the safety suspension position is located above the pre-installation position. Based on this, in some embodiments, such as... Figure 5 As shown, the above-mentioned photovoltaic array semi-finished product installation method may further include: step 310 and step 320.

[0140] Step 310: Based on the first pose information of the photovoltaic support group, determine the safe suspension position of the pickup module. The safe suspension position is located above the pre-installation position.

[0141] The safety suspension position refers to the transition position above the pre-installation position, which is used to establish a safe transfer space before the pickup module approaches the pre-installation position.

[0142] In one example, the method for determining the target pose of the pickup module at the safety suspension position is the same as the method for determining the target pose of the pickup module at the pre-installation position. That is, the first pose information of the photovoltaic support group or the second target pose information of the photovoltaic array semi-finished product determined based on the first pose information of the photovoltaic support group is superimposed with the preset height value. For details, please refer to the above example, which will not be repeated here.

[0143] In another example, the safe suspension position of the pickup module can be determined by using the x, y coordinates and preset height value in the first pose information of the photovoltaic support group, and the specific attitude adjustment of the pickup module is realized based on the target pose information of the pre-installation position.

[0144] Step 320: Before moving the pickup module to the pre-installation position, move the pickup module to the safety suspension position.

[0145] In other embodiments, based on the first pose information of the photovoltaic support assembly, other units of the photovoltaic installation equipment connected to the pickup module can be controlled to reach a predetermined position, thereby enabling the pickup module to reach a safe suspension position. For example, when the pickup module is a lifting device connected to a trolley, the trolley can be stopped above the photovoltaic support assembly based on the y-coordinate in the first pose information of the photovoltaic support assembly, at which point the pickup module reaches a safe suspension position.

[0146] It is worth noting that the specific steps for controlling the pickup module to move to the safety suspension position can be found in the example of step 1201 above, and will not be repeated here.

[0147] Therefore, moving the pickup module to a safe suspension position before moving it to the pre-installation position can serve as a transitional position for the pickup module before it approaches the pre-installation position, creating a safe transfer space and effectively reducing the risk of collision that may occur during the movement of the pickup module to the pre-installation position.

[0148] In some embodiments of this application, step 1503 may specifically include determining the pose deviation information of the pickup module based on the third target pose information and the second pose information. The pose deviation information includes at least one of the following: translational deviation information and rotational deviation information. The translational deviation information represents the difference in position between the pickup module and the target position corresponding to the third target pose information; the rotational deviation information represents the difference in attitude between the pickup module and the target attitude corresponding to the third target pose information.

[0149] In some non-limiting embodiments of this application, when the pose deviation information includes translation deviation information representing the translational deviation of the picking module in the target direction, the picking module is controlled to move along the target direction based on the translation deviation information until the picking module is adjusted to the position represented by the third target pose information. The target direction includes at least one of the following directions: a first direction, a second direction, and a third direction, wherein the first direction, the second direction, and the third direction intersect each other. The first direction, the second direction, and the third direction together constitute a three-dimensional spatial coordinate system. For example, the first direction can be set as the x-axis direction in the horizontal plane, the second direction can be set as the y-axis direction in the horizontal plane, and the third direction can be set as the z-axis direction in the vertical plane.

[0150] In some non-limiting embodiments of this application, when the pose deviation information includes rotation deviation information representing the rotation deviation of the pickup module, the pickup module is controlled to rotate around the horizontal axis and / or around the vertical axis based on the rotation deviation information until the pickup module is adjusted to the posture represented by the third target pose information.

[0151] Based on the same inventive concept, this application also provides a photovoltaic array semi-finished product installation device corresponding to the method of any of the above embodiments.

[0152] In some embodiments, such as Figures 7 to 9 As shown, the photovoltaic array semi-finished product installation equipment includes: an installation body 410, a pickup module 420, a moving module 430, and a control system.

[0153] The system includes a pickup module 420 for picking up a photovoltaic array semi-finished product 210, which includes multiple photovoltaic panels; a moving module 430, which is located on the installation body 410 and connected to the pickup module 420, for moving the pickup module 420; and a control system for executing the photovoltaic array semi-finished product installation method described above.

[0154] In some embodiments of this application, the photovoltaic array semi-finished product installation equipment may further include at least one point cloud acquisition device 440, which is installed on the installation body 410 and is used to acquire point cloud data of the photovoltaic support group 220, the pickup module 420 and the photovoltaic array semi-finished product 210.

[0155] In some embodiments of this application, the installation body of the photovoltaic array semi-finished product installation equipment can have the structure of a gantry crane, as described below, or it can be in the form of a motor vehicle, as shown in patent CN222620936U. The motor vehicle includes a picking module in the form of a photovoltaic bracket, and a mechanical motion unit (alignment adjustment component, etc.) to control the picking module, and completes the picking and installation of the photovoltaic array semi-finished product by controlling the picking module.

[0156] In some embodiments of this application, the aforementioned pickup module can be a suction cup type lifting device, a clamping bracket, a frame with a snap-fit ​​structure, or any other suitable structure, without specific limitations. Next, we will combine... Figure 7 and Figure 8 The installation equipment for the aforementioned photovoltaic array semi-finished products is described in detail.

[0157] refer to Figure 7 and Figure 8 The installation body 410 in this embodiment may include a horizontal support component 4101, a vertical support component 4102, and a walking mechanism component 4103. The horizontal support component 4101 is installed on one side of the vertical support component 4102 along the vertical direction, and the walking mechanism component 4103 is disposed on the other side of the vertical support component 4102 along the vertical direction.

[0158] In some embodiments of this application, such as Figure 7 As shown, the aforementioned lateral support assembly 4101 may include a first unit 41011 and a second unit 41012 arranged side-by-side along a first direction. The first unit 41011 and the vertical support assembly 4102 enclose each other to form a first space, and the second unit 41012 and the vertical support assembly 4102 enclose each other to form a second space. The supports of the two or more support units of the vertical support assembly 4102 are spaced apart along the periphery of the first unit 41011 of the lateral support assembly 4101, and the second unit 41012 extends out of the vertical support assembly 4102 along the first direction and is suspended above the second space.

[0159] The first direction intersects with the vertical direction, providing an installation space for the photovoltaic array semi-finished product 210, and a second space for the hoisting operation of the photovoltaic array semi-finished product 210 loaded by the photovoltaic array semi-finished product loading equipment. Based on this, the moving module 430 may include a hoisting trolley slidably connected to the horizontal support assembly 4101 for connecting the pickup module 420. Specifically, the hoisting trolley may include a first hoist 4301 slidably connected to the horizontal support assembly 4101 and a second hoist 4302 connected to the first hoist 4301.

[0160] As a non-restrictive example, such as Figures 7 to 9 As shown, the point cloud acquisition device 440 can be installed on the horizontal support component 4101 and / or the vertical support component 4102 to collect measurement point cloud data of the photovoltaic support assembly 220, the pickup module 420, and the photovoltaic array semi-finished product 210. It can be understood that the point cloud acquisition device 440 can also be installed at any suitable location on the mounting body 410.

[0161] In other embodiments of this application, such as Figure 8 As shown, the aforementioned lateral support assembly 4101 may include at least two crossbeams 41013 spaced apart in the second direction, and at least two connecting beams 41014 spaced apart in the first direction and connected between the at least two crossbeams 4104; the first and second directions intersect the vertical direction in pairs; the aforementioned vertical support assembly 4102 includes at least two support units spaced apart in the first direction. Each support unit includes at least two brackets 41021 and an auxiliary mounting beam 41022 for connecting the at least two brackets 41021, with the at least two brackets 41021 spaced apart along the second direction. Each bracket 41021 of the at least two support units is distributed along the periphery of the at least two crossbeams 4104. Specifically, based on this, in some non-limiting embodiments of this application, the point cloud acquisition device may be mounted on the brackets 41021 or the auxiliary mounting beams 41022.

[0162] Next, we will combine Figure 8 The structure of the above-mentioned pickup module 420 will be described in detail.

[0163] In some embodiments of this application, the picking module 420 may include a lifting device. The lifting device integrates multiple suction cups 4202 mounted on a frame assembly 4201, enabling it to simultaneously pick up multiple photovoltaic panels. The lifting device can grab and lift a semi-finished photovoltaic array assembled from individual photovoltaic panels in one go for assembly, improving the installation efficiency of the photovoltaic panels while ensuring the reliability of the photovoltaic panel hoisting process. In one example, the frame assembly 4201 includes at least one main beam 42011 and multiple auxiliary beams 42012. The auxiliary beams 42012 are spaced apart along the extension direction of the main beam 42011 and intersect with the main beam 42011. The multiple suction cups 4202 are spaced apart on the auxiliary beams 42012.

[0164] Therefore, the installation body 410 of the photovoltaic array semi-finished product installation equipment provided in this application embodiment forms a working space by enclosing the horizontal support component 4101 and the vertical support component 4102. This structural design makes the support effect of the installation body 410 more stable. The installation body 410 can be connected to the moving module 430 and drive the picking module 420 to move with the help of the moving module 430. In the working space, the picking module 420 can perform hoisting operations on the photovoltaic array semi-finished product 210 formed by splicing multiple photovoltaic panels. The picking module 420 can move along the traveling direction of the installation body 410 and / or the sliding direction of the moving module 430 to adjust the position of the picking module 420 in these two directions, realizing fine adjustment of the hoisting position of the picking module 420. In this way, the photovoltaic array semi-finished product installation equipment of this application embodiment can directly hoist the photovoltaic array semi-finished product 210 to the installation position, realizing precise docking and installation of the photovoltaic array semi-finished product 210, greatly improving the installation efficiency and installation accuracy of the photovoltaic array semi-finished product 210. Furthermore, the photovoltaic array semi-finished product installation equipment provided in this application embodiment can execute any of the photovoltaic array semi-finished product installation methods in the above embodiments through the control system, thereby compensating for the positional deviation during the photovoltaic array semi-finished product picking process, and finally achieving precise docking between the photovoltaic array semi-finished product and the photovoltaic support group, effectively improving the installation accuracy of the photovoltaic array semi-finished product and the photovoltaic support group.

[0165] Next, we will combine Figure 8 and Figure 9 The following is an exemplary description of the implementation scenario of the photovoltaic array semi-finished product installation equipment performing the above-described photovoltaic array semi-finished product installation method according to the embodiments of this application.

[0166] At the photovoltaic array semi-finished product installation site, point cloud data of the photovoltaic support assembly 220 is acquired through at least one point cloud acquisition device 440. Based on the point cloud data of the photovoltaic support assembly 220, the control system determines the first pose information of the photovoltaic support assembly 220. After obtaining the first pose information of the photovoltaic support assembly 220, the control system determines the safety suspension position a and the pre-installation position b of the pickup module 420 based on preset rules. The safety suspension position a ensures that collisions with surrounding obstacles are avoided during the transfer of the photovoltaic array semi-finished product 210 by the pickup module 420; the pre-installation position b is used for pose correction and installation of the photovoltaic array semi-finished product 210.

[0167] In addition, the control system controls the pickup module 420 to perform the pickup action of the photovoltaic array semi-finished product 210. After successfully picking up the photovoltaic array semi-finished product 210, the control system controls the pickup module 420 to move to the safe suspension position a to ensure the safety of the handling process. Next, the control system controls the pickup module 420 to move to the pre-installation position b, and acquires the first point cloud data of the pickup module 420 and the second point cloud data of the photovoltaic array semi-finished product 210 through at least one point cloud acquisition device 440. Based on the first point cloud data of the pickup module 420, the control system determines the second pose information of the pickup module; similarly, based on the second point cloud data of the photovoltaic array semi-finished product 210, the control system determines the third pose information of the photovoltaic array semi-finished product 210.

[0168] Subsequently, the control system retrieves the pre-calibrated installation conversion relationship between the photovoltaic support assembly 220 and the photovoltaic array semi-finished product 210. Based on the first pose information of the photovoltaic support assembly 220 and the aforementioned installation conversion relationship, the second target pose information of the photovoltaic array semi-finished product 210 at the target installation position c is determined. The second target pose information indicates the pose state that the photovoltaic array semi-finished product 210 should be in when installed onto the photovoltaic support assembly 220.

[0169] Next, based on the second target pose information of the photovoltaic array semi-finished product 210 and the relative pose relationship between the pickup module 420 and the photovoltaic array semi-finished product 210, the control system further calculates and determines the third target pose information of the pickup module 420. The third target pose information represents the pose required for the pickup module 420 to accurately install the photovoltaic array semi-finished product 210 onto the photovoltaic support assembly 220.

[0170] Finally, the control system generates motion commands based on the third target pose information to control the pickup module 420 to reach the pose corresponding to the third target pose information, thereby realizing the installation of the photovoltaic array semi-finished product 210.

[0171] Based on the photovoltaic array semi-finished product installation method provided in the above embodiments, this application also provides a specific implementation of the photovoltaic array semi-finished product installation device. Please refer to the following embodiments.

[0172] See Figure 10 The photovoltaic array semi-finished product installation device 500 provided in this application embodiment includes:

[0173] The first acquisition module 510 is used to acquire the first pose information of the photovoltaic support group;

[0174] The first control module 520 is used to control the pickup module that picks up the photovoltaic array semi-finished product to move to the pre-installation position, which is located above the target installation position of the photovoltaic array semi-finished product.

[0175] The second acquisition module 530 is used to acquire the second pose information of the pickup module in the pre-installation position and the third pose information of the photovoltaic array semi-finished product picked up by the pickup module in the pre-installation position.

[0176] The first determining module 540 is used to determine the relative pose relationship between the picking module and the photovoltaic array semi-finished product based on the second pose information and the third pose information.

[0177] The second control module 550 is used to control the picking module to install the photovoltaic array semi-finished product onto the photovoltaic support group based on the first pose information and the relative pose relationship.

[0178] Therefore, the first control module 520 controls the pickup module to move to the pre-installation position, and the second acquisition module 530 acquires the second pose information of the pickup module and the third pose information of the photovoltaic array semi-finished product at the pre-installation position. The first determination module 540 uses this relative pose relationship between the pickup module and the photovoltaic array semi-finished product to accurately quantify the pose deviation during the pickup process. Subsequently, based on the first pose information of the photovoltaic support group acquired by the first acquisition module 510 and the relative pose relationship determined by the first determination module 540, the pose of the pickup module is adjusted to compensate for the pose deviation during the pickup process, ultimately achieving precise docking between the photovoltaic array semi-finished product and the photovoltaic support group, effectively improving the installation accuracy of the photovoltaic array semi-finished product and the photovoltaic support group.

[0179] In some embodiments of this application, the first control module 520 described above can specifically be used for:

[0180] Based on the first pose information of the photovoltaic support group, determine the first target pose information of the pickup module at the pre-installation position;

[0181] Based on the first target pose information, control the pickup module to move to the pre-installation position.

[0182] In some embodiments of this application, the first control module 520 described above can specifically be used for:

[0183] The first pose information of the photovoltaic support group is superimposed with the first preset height value to obtain the first target pose information of the picking module.

[0184] In some embodiments of this application, the first control module 520 described above can specifically be used for:

[0185] Based on the first pose information of the photovoltaic support group and the pre-calibrated installation conversion relationship between the photovoltaic support group and the photovoltaic array semi-finished product, the second target pose information of the photovoltaic array semi-finished product at the target installation position is determined.

[0186] The second target pose information of the photovoltaic array semi-finished product is superimposed with the second preset height value to obtain the first target pose information of the picking module.

[0187] In some embodiments of this application, the second acquisition module 530 described above can be specifically used to determine the first target pose information of the pickup module as the second pose information of the pickup module.

[0188] In some embodiments of this application, the second acquisition module 530 described above can be specifically used to acquire the first point cloud data of the pickup module when the pickup module moves to the pre-installation position;

[0189] Based on the first point cloud data, the second pose information of the picking module is determined.

[0190] In some embodiments of this application, the second acquisition module 530 described above can specifically be used for:

[0191] With the pickup module moved to the pre-installation position, the second point cloud data of the photovoltaic array semi-finished product is acquired;

[0192] Based on the second point cloud data, the third pose information of the photovoltaic array semi-finished product is determined.

[0193] In some embodiments of this application, the second control module 550 described above can specifically be used for:

[0194] Based on the first pose information of the photovoltaic support group and the pre-calibrated installation conversion relationship between the photovoltaic support group and the photovoltaic array semi-finished product, the second target pose information of the photovoltaic array semi-finished product at the target installation position is determined.

[0195] Based on the second target pose information and relative pose relationship of the photovoltaic array semi-finished product, the third target pose information of the picking module is determined;

[0196] The photovoltaic array semi-finished product is installed onto the photovoltaic support group based on the third target pose information control and picking module.

[0197] In some embodiments of this application, the photovoltaic array semi-finished product installation device 500 may further include:

[0198] The third control module is used to control the pickup module to move to the safety suspension position based on the first pose information of the photovoltaic support group before the pickup module moves to the pre-installation position. The safety suspension position is located above the pre-installation position.

[0199] The various modules of the photovoltaic array semi-finished product installation device provided in this application embodiment can achieve Figures 1 to 6 It provides the functions for each step of the photovoltaic array semi-finished product installation method and can achieve the corresponding technical effects. For the sake of brevity, it will not be described in detail here.

[0200] Figure 11 The diagram shows a schematic representation of the structure of an electronic device provided in some embodiments of this application.

[0201] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0202] Specifically, the processor 601 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0203] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory.

[0204] In a particular embodiment, memory 602 includes read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0205] The processor 601 reads and executes computer program instructions stored in the memory 602 to implement any of the photovoltaic array semi-finished product installation methods in the above embodiments.

[0206] In one example, the aforementioned electronic device may further include a communication interface 603 and a bus 610. Wherein, as... Figure 9 As shown, the processor 601, memory 602, and communication interface 603 are connected through bus 610 and complete communication with each other.

[0207] The communication interface 603 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0208] Bus 610 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0209] This electronic device can perform the photovoltaic array semi-finished product installation method in the embodiments of this application, thereby achieving the combination Figures 1 to 6 The method for installing semi-finished photovoltaic arrays is described.

[0210] Furthermore, in conjunction with the photovoltaic array semi-finished product installation method in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the photovoltaic array semi-finished product installation methods in the above embodiments. Examples of computer-readable storage media include non-transitory computer-readable storage media, such as portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, etc.

[0211] Furthermore, in conjunction with the photovoltaic array semi-finished product installation method in the above embodiments, this application embodiment can provide a computer program product to implement this method. This program product is stored in a storage medium and may specifically include a computer program or instructions. When executed by a processor, the computer program or instructions implement any of the photovoltaic array semi-finished product installation methods in the above embodiments. This program product is executed by at least one processor to implement the various processes as described in the above data processing method embodiments, and can achieve the same technical effects. To avoid repetition, further details are omitted here.

[0212] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0213] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0214] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0215] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0216] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for installing a photovoltaic array semi-finished product, wherein the photovoltaic array semi-finished product comprises multiple photovoltaic panels, characterized in that, include: Obtain the first pose information of the photovoltaic support assembly; The picking module, which picks up the photovoltaic array semi-finished product, is controlled to move to a pre-installation position, which is located above the target installation position of the photovoltaic array semi-finished product. Acquire the second pose information of the picking module at the pre-installation position and the third pose information of the photovoltaic array semi-finished product picked up by the picking module at the pre-installation position; Based on the second pose information and the third pose information, the relative pose relationship between the picking module and the photovoltaic array semi-finished product is determined; Based on the first pose information and the relative pose relationship, the picking module is controlled to install the photovoltaic array semi-finished product onto the photovoltaic support group.

2. The method according to claim 1, characterized in that, The control of moving the pickup module, which picks up the photovoltaic array semi-finished product, to the pre-installation position includes: Based on the first pose information of the photovoltaic support group, the first target pose information of the picking module at the pre-installation position is determined; Based on the first target pose information, the picking module is controlled to move to the pre-installation position.

3. The method according to claim 2, characterized in that, The step of determining the first target pose information of the pickup module at the pre-installation position based on the first pose information of the photovoltaic support group includes: The first pose information of the photovoltaic support group is superimposed with the first preset height value to obtain the first target pose information of the picking module.

4. The method according to claim 2, characterized in that, The step of determining the first target pose information of the pickup module at the pre-installation position based on the first pose information of the photovoltaic support group includes: Based on the first pose information of the photovoltaic support group and the pre-calibrated installation conversion relationship between the photovoltaic support group and the photovoltaic array semi-finished product, the second target pose information of the photovoltaic array semi-finished product at the target installation position is determined; The second target pose information of the photovoltaic array semi-finished product is superimposed with the second preset height value to obtain the first target pose information of the picking module.

5. The method according to any one of claims 2 to 4, characterized in that, The step of obtaining the second pose information of the pickup module at the pre-installation position includes: The first target pose information of the picking module is determined as the second pose information of the picking module.

6. The method according to any one of claims 1 to 4, characterized in that, The step of obtaining the second pose information of the pickup module at the pre-installation position includes: When the picking module moves to the pre-installation position, the first point cloud data of the picking module is acquired; Based on the first point cloud data, the second pose information of the picking module is determined.

7. The method according to any one of claims 1 to 4, characterized in that, Obtaining the third pose information of the photovoltaic array semi-finished product picked up by the pickup module at the pre-installation position includes: When the picking module moves to the pre-installation position, the second point cloud data of the photovoltaic array semi-finished product is acquired; Based on the second point cloud data, the third pose information of the photovoltaic array semi-finished product is determined.

8. The method according to any one of claims 1 to 4, characterized in that, The step of controlling the picking module to install the photovoltaic array semi-finished product onto the photovoltaic support group based on the first pose information and the relative pose relationship includes: Based on the first pose information of the photovoltaic support group and the pre-calibrated installation conversion relationship between the photovoltaic support group and the photovoltaic array semi-finished product, the second target pose information of the photovoltaic array semi-finished product at the target installation position is determined; Based on the second target pose information of the photovoltaic array semi-finished product and the relative pose relationship, the third target pose information of the picking module is determined; The picking module is controlled based on the third target pose information to install the photovoltaic array semi-finished product onto the photovoltaic support group.

9. The method according to any one of claims 1-4, characterized in that, The method further includes: Before controlling the pickup module to move to the pre-installation position, based on the first pose information of the photovoltaic support group, the pickup module is controlled to move to the safety suspension position, wherein the safety suspension position is located above the pre-installation position.

10. A photovoltaic array semi-finished product installation device, characterized in that, The photovoltaic array semi-finished product installation equipment includes: Installation main body; A pickup module is used to pick up semi-finished photovoltaic arrays, which include multiple photovoltaic panels. A movable module is disposed on the mounting body and connected to the pickup module, for moving the pickup module; A control system for performing the photovoltaic array semi-finished product installation method as described in any one of claims 1-9.

11. A photovoltaic array semi-finished product installation device, characterized in that, include: The first acquisition module is used to acquire the first pose information of the photovoltaic support group; The first control module is used to control the pickup module, which picks up the photovoltaic array semi-finished product, to move to the pre-installation position, which is located above the target installation position of the photovoltaic array semi-finished product. The second acquisition module is used to acquire the second pose information of the pickup module at the pre-installation position and the third pose information of the photovoltaic array semi-finished product picked up by the pickup module at the pre-installation position. The first determining module is used to determine the relative pose relationship between the picking module and the photovoltaic array semi-finished product based on the second pose information and the third pose information. The second control module is used to control the picking module to install the photovoltaic array semi-finished product onto the photovoltaic support group based on the first pose information and the relative pose relationship.

12. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the photovoltaic array semi-finished product installation method as described in any one of claims 1-9.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the photovoltaic array semi-finished product installation method as described in any one of claims 1-9.

14. A computer program product, characterized in that, The method includes a computer program that, when executed, implements the photovoltaic array semi-finished product installation method according to any one of claims 1-9.

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