Photovoltaic array semi-finished product installation equipment

Abstract

The utility model discloses photovoltaic array semi-finished product installation equipment which is used for installing a photovoltaic array semi-finished product to a photovoltaic support, and the photovoltaic array semi-finished product comprises a plurality of photovoltaic panels. The photovoltaic array semi-finished product installation device comprises a main vehicle, a small vehicle and at least one first sensing device. The main vehicle comprises a vertical supporting assembly, a transverse supporting assembly and a walking mechanism assembly. The trolley is connected to the transverse supporting assembly of the main trolley in a sliding mode and can be connected with the lifting appliance, and the lifting appliance is configured to lift photovoltaic array semi-finished products in the working space. The sensing range of the at least one first sensing device covers at least one of the area where the photovoltaic support is located, the area where the loading device of the photovoltaic array semi-finished product is located, the area where the lifting appliance is located and the area where the photovoltaic array semi-finished product is located in the working space. The position and posture information of at least one of the photovoltaic support, the loading equipment, the lifting appliance and the photovoltaic array semi-finished product is detected, the photovoltaic array semi-finished product can be accurately installed on the photovoltaic support, and the working efficiency and the installation precision are improved.

Description

Technical Field

[0001] This application belongs to the field of photovoltaic panel installation technology, and in particular relates to a photovoltaic array semi-finished product installation equipment. Background Technology

[0002] Photovoltaic panel arrays are the core component of the entire power generation system. Existing photovoltaic panel arrays are mainly formed by manually assembling multiple photovoltaic panels onto photovoltaic brackets. The photovoltaic brackets are large in size, and each photovoltaic panel is heavy, making installation difficult. Furthermore, repeated on-site measurements are required, resulting in long construction periods, low installation efficiency, and poor installation accuracy.

[0003] Therefore, there is an urgent need for installation equipment that can meet the installation requirements of photovoltaic panels. Utility Model Content

[0004] This application provides a photovoltaic array semi-finished product installation device, which can accurately connect and install photovoltaic array semi-finished products with high installation efficiency.

[0005] This application provides a photovoltaic array semi-finished product installation device for installing photovoltaic array semi-finished products onto photovoltaic brackets. The photovoltaic array semi-finished product includes multiple photovoltaic panels. The device includes: a main vehicle, comprising a vertical support component, a horizontal support component, and a traveling mechanism component. The horizontal support component is supported on one side of the vertical support component along the vertical direction, and the traveling mechanism component is located on the other side of the vertical support component along the vertical direction. The horizontal and vertical support components enclose a working space; a trolley, slidably connected to the horizontal support component of the main vehicle and connectable to a lifting device, the lifting device being configured to lift the photovoltaic array semi-finished product within the working space; and at least one first sensing device, the sensing range of which covers at least one area in the working space, including the area where the photovoltaic bracket is located, the area where the photovoltaic array semi-finished product loading equipment is located, the area where the lifting device is located, and the area where the photovoltaic array semi-finished product is located, to detect the pose information of at least one of the photovoltaic bracket, the loading equipment, the lifting device, and the photovoltaic array semi-finished product.

[0006] Optionally, at least one first sensing device includes at least one photovoltaic support sensing device, the sensing range of which covers the area where the photovoltaic support is located, to detect the pose information of the photovoltaic support; the photovoltaic support sensing device is disposed on the vertical support component.

[0007] Optionally, the vertical support assembly includes at least two support units spaced apart along the sliding direction of the trolley; the photovoltaic bracket sensing device is disposed on the first support unit, wherein the first support unit is the support unit that is closer to the photovoltaic bracket among the at least two support units.

[0008] Optionally, at least one first sensing device includes a photovoltaic array semi-finished product sensing device, the sensing range of which covers the area above the photovoltaic support where the photovoltaic array semi-finished product is located, in order to detect the pose information of the photovoltaic array semi-finished product; the photovoltaic array semi-finished product sensing device is set at a position lower than the highest point of the photovoltaic support.

[0009] Optionally, the sensing range of the photovoltaic support sensing device also covers the hoist and the area where the photovoltaic array semi-finished product is located above the photovoltaic support, so as to detect the pose information of the photovoltaic array semi-finished product; the photovoltaic support sensing device is set on the first support unit at a position lower than the highest point of the photovoltaic support.

[0010] Optionally, the sensing range of one or more of the first sensing devices covers the area where the loading device is located and / or the area where the spreader above the loading device is located, so as to detect the position and orientation information of the loading device and / or the spreader; the vertical support assembly includes at least two support units spaced apart along the sliding direction of the trolley, and one or more first sensing devices are disposed on the horizontal support assembly and / or on the second support unit that is closer to the loading device among the at least two support units.

[0011] Optionally, the sensing range of one or more of the first sensing devices covers the area where the photovoltaic array semi-finished product is located inside the loading device, so as to detect the pose information of the photovoltaic array semi-finished product inside the loading device; one or more first sensing devices are set on the transverse support component and are positioned higher than the top opening of the loading device.

[0012] Optionally, at least one first sensing device includes at least one top sensing device. The sensing range of the top sensing device covers at least one of the areas where the loading device is located, the area where the lifting device above the loading device is located, and the area where the photovoltaic array semi-finished product is located inside the loading device. It is used to detect the position and orientation information of at least one of the loading device, the photovoltaic array semi-finished product inside the loading device, and the lifting device. The top sensing device is set on the middle section of the transverse support component and is positioned higher than the top opening of the loading device.

[0013] Optionally, the sensing range of the top sensing device simultaneously covers the area where the loading equipment is located, the area where the lifting device above the loading equipment is located, and the area where the photovoltaic array semi-finished product is located inside the loading equipment.

[0014] Optionally, the photovoltaic array semi-finished product installation equipment also includes at least one second sensing device, the sensing range of which covers an area of ​​at least one of the front, rear, left, and right sides of the photovoltaic array semi-finished product installation equipment, in order to detect obstacles.

[0015] Optionally, the second sensing device is mounted on the lateral support assembly.

[0016] Optionally, the sensing range of the top sensing device also covers the area in front of or behind the photovoltaic array semi-finished installation equipment to detect obstacles.

[0017] Optionally, the photovoltaic array semi-finished product installation equipment also includes a navigation device, which is installed on the lateral support component.

[0018] The photovoltaic array panel installation equipment provided in this application includes a main vehicle, a trolley, and at least one first sensing device. The vertical and horizontal support components of the main vehicle enclose the working space, providing more stable support. The trolley's frame can connect to a lifting device, which can lift the photovoltaic array semi-finished product formed by splicing multiple photovoltaic panels. Since the sensing range of at least one first sensing device can cover at least one area in the working space, including the area where the photovoltaic bracket is located, the area where the photovoltaic array semi-finished product loading equipment is located, and the area where the lifting device is located, the at least one first sensing device can detect the pose information of at least one of the photovoltaic bracket, the loading equipment, the lifting device, and the photovoltaic array semi-finished product. Based on one or more pose information of the photovoltaic bracket, the loading equipment, the lifting device, and the photovoltaic array semi-finished product, the photovoltaic array semi-finished product can be accurately installed onto the photovoltaic bracket. Therefore, the photovoltaic array panel installation equipment of this application can directly lift the photovoltaic array semi-finished product to the installation position and perform precise docking and installation, improving installation efficiency and accuracy. Attached Figure Description

[0019] 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.

[0020] Figure 1 This is a schematic diagram of the structure of a photovoltaic array semi-finished product provided in one embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the structure of a photovoltaic array semi-finished product and a photovoltaic support provided in one embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the structure of a photovoltaic array semi-finished product installation device provided in one embodiment of this application;

[0023] Figure 4 This is a schematic diagram showing the relative positions of the photovoltaic array semi-finished product installation equipment and the support equipment provided in one embodiment of this application;

[0024] Figure 5This is a schematic diagram illustrating the sensing range coverage of the top sensing device and the photovoltaic support sensing device according to an embodiment of this application;

[0025] Figure 6 This is a schematic diagram illustrating the sensing range coverage of the second sensing device and the photovoltaic support sensing device according to an embodiment of this application;

[0026] Figure 7 This is a schematic diagram illustrating the sensing range coverage of multiple second sensing devices provided in one embodiment of this application.

[0027] The above figures include the following reference numerals:

[0028] 101. Purlin; 102. Diagonal beam; 103. Photovoltaic panel; 202. Semi-finished photovoltaic array; 203. Photovoltaic support frame; 301. Main vehicle; 302. Cart; 303. First photovoltaic support frame sensing device; 304. Second photovoltaic support frame sensing device; 305. First crossbeam; 306. Second crossbeam; 307. Second top sensing device; 308. Third top sensing device; 309. First top sensing device; 310. Fourth top sensing device 311. Connecting section; 312. Lifting device; 3011. Vertical support assembly; 3012. Lateral support assembly; 3013. Traveling mechanism assembly; 3014. First support unit; 3015. Second support unit; 3016. First bracket; 3017. Second bracket; 3018. Third bracket; 3019. Fourth bracket; 3020. First connecting beam; 3021. Second connecting beam; 3022. Crossbeam; 401. Supporting equipment. Detailed Implementation

[0029] The features and exemplary embodiments of various aspects of this application will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a comprehensive understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of this application by illustrating examples. In the accompanying drawings and the following description, at least some well-known structures and techniques are not shown to avoid unnecessarily obscuring the application; and, for clarity, the dimensions of some structures may be exaggerated. Furthermore, the features, structures, or characteristics described below can be combined in any suitable manner in one or more embodiments.

[0030] In the description of this application, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," etc., indicating orientation or positional relationships are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] The directional terms appearing in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of the embodiments of this application. It should also be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0032] To better understand this application, the following will be combined with... Figures 1 to 7 The photovoltaic array semi-finished product installation equipment of the present application embodiment will be described in detail.

[0033] The photovoltaic array semi-finished product installation equipment provided in this application embodiment is used to install photovoltaic array semi-finished products onto photovoltaic brackets.

[0034] The photovoltaic array semi-finished product includes multiple photovoltaic panels arranged in a certain form. These photovoltaic panels are fixed together by fixing means, such as, but not limited to, by at least one connecting beam set on the back of the photovoltaic panels.

[0035] Figure 1 A non-limiting example of a photovoltaic array semi-finished product is shown. The connecting beam includes a plurality of purlins 101 and a plurality of inclined beams 102. The purlins 101 are spaced apart and arranged in parallel, and the inclined beams 102 are spaced apart and arranged in parallel. The purlins 101 and inclined beams 102 intersect and overlap to form a frame. A plurality of photovoltaic panels 103 are arranged in an array and installed on the side of the purlins 101 away from the inclined beams 102 to constitute the photovoltaic array semi-finished product. In other examples, the connecting beam may also include a main axis capable of causing the photovoltaic panels to rotate about it.

[0036] The assembly of photovoltaic array semi-finished products can be carried out in a factory. Compared with on-site assembly for outdoor photovoltaic installations, the assembly process can rely on specialized equipment, which helps to improve installation accuracy and efficiency. When installing the assembled photovoltaic array semi-finished products, the lifting tools and installation equipment provided in the embodiments of this application can be used to lift, transfer, and install the photovoltaic array semi-finished products.

[0037] A photovoltaic (PV) support system is a component used to support and secure semi-finished PV arrays. Typically, a PV support system consists of multiple individual supports, with adjacent supports in a defined positional relationship. Each PV support system can accommodate at least one semi-finished PV array.

[0038] For example, as a non-limiting example, such as Figure 2 As shown, a set of photovoltaic support 203 consists of 4 supports, and the photovoltaic array semi-finished product 202 consists of 2×13 photovoltaic panels 103.

[0039] like Figure 3 As shown, the photovoltaic array semi-finished product installation equipment provided in this application embodiment includes a main vehicle 301, a small vehicle 302, and at least one first sensing device.

[0040] The main vehicle 301 includes a vertical support assembly 3011, a horizontal support assembly 3012, and a traveling mechanism assembly 3013. The horizontal support assembly 3012 is supported on one side of the vertical support assembly 3011 along the vertical direction, and the traveling mechanism assembly 3013 is located on the other side of the vertical support assembly 3011 along the vertical direction. The horizontal support assembly 3012 and the vertical support assembly 3011 enclose a working space. Within the working space enclosed by the horizontal support assembly 3012 and the vertical support assembly 3011, a set of photovoltaic brackets 203 and a loading device for photovoltaic array semi-finished products are distributed along the sliding direction of the trolley 302.

[0041] The trolley 302 is slidably connected to the lateral support assembly 3012 of the main vehicle 301, and can be connected to the lifting device 312, which is configured to lift the photovoltaic array semi-finished product in the work space.

[0042] The sensing range of at least one first sensing device covers at least one of the following areas in the work space: the area where the photovoltaic support 203 is located, the area where the loading equipment for the photovoltaic array semi-finished product is located, the area where the lifting device 312 is located, and the area where the photovoltaic array semi-finished product is located, in order to detect the pose information of at least one of the photovoltaic support 203, the loading equipment, the lifting device 312, and the photovoltaic array semi-finished product.

[0043] Optionally, the first sensing device can be a three-dimensional information acquisition device used to acquire three-dimensional information of the target object, such as pose information in a three-dimensional coordinate system. For example, the first sensing device can be a LiDAR, a structured light scanner, a time-of-flight sensor, a binocular camera, etc.

[0044] Optionally, the sensing range of the first sensing device can be determined by parameters such as the field of view and / or detection distance.

[0045] For example, based on Figure 3The photovoltaic array semi-finished product installation equipment shown can be used to install the photovoltaic array semi-finished product. The installation process may include:

[0046] At the start of installation, the photovoltaic array semi-finished product installation equipment and loading equipment move and park near any set of photovoltaic brackets. At this time, the sensing range of at least one first sensing device can cover at least one of the following areas in the work space: the area where the photovoltaic brackets are located, the area where the photovoltaic array semi-finished product loading equipment is located, the area where the hoisting equipment is located, and the area where the photovoltaic array semi-finished product is located.

[0047] During installation, based on the pose information of at least one of the loading equipment, the lifting device, and the photovoltaic array semi-finished product detected by at least one first sensing device, the trolley of the photovoltaic array semi-finished product installation equipment can be precisely slid above the loading equipment. Multiple photovoltaic array semi-finished products are stacked layer by layer inside the material container of the loading equipment. Then, based on the pose information of at least one of the loading equipment, the lifting device, and the photovoltaic array semi-finished product, the lifting device connected to the trolley can precisely grab the photovoltaic array semi-finished product from the material container of the loading equipment. Next, based on the pose information of at least one of the photovoltaic bracket, the lifting device, and the photovoltaic array semi-finished product, the lifting device can install the photovoltaic array semi-finished product onto the photovoltaic bracket, thus completing a single grabbing and installation operation.

[0048] After completing a single installation operation for a group of photovoltaic brackets, the trolley of the photovoltaic array semi-finished product installation equipment can slide back to the initial position, and the photovoltaic array semi-finished product installation equipment can move to the next group of photovoltaic brackets, repeating the above process until multiple groups of photovoltaic brackets are installed.

[0049] As can be seen from the above installation process, since the sensing range of at least one first sensing device can cover at least one of the following areas in the work space: the area where the photovoltaic support is located, the area where the loading equipment for the photovoltaic array semi-finished product is located, the area where the lifting device is located, and the area where the photovoltaic array semi-finished product is located, the at least one first sensing device can detect the pose information of at least one of the photovoltaic support, loading equipment, lifting device, and photovoltaic array semi-finished product. Therefore, based on the pose information of one or more of the photovoltaic support, loading equipment, lifting device, and photovoltaic array semi-finished product, the photovoltaic array semi-finished product can be accurately installed onto the photovoltaic support, achieving precise docking and installation of the photovoltaic array semi-finished product, and improving installation efficiency and accuracy.

[0050] In this application embodiment, the photovoltaic array semi-finished product installation equipment may include various implementation methods. Next, some optional implementation methods will be described by example.

[0051] Optionally, the main vehicle and the trolley are slidably connected, that is, the trolley is movable relative to the main vehicle in a specific direction. For the slidably connected main vehicle and trolley, there is no restriction on the specific implementation form of the slid connection. It can be any combination of structures such as slide rails, slide grooves, slide tracks, and sliding parts such as sliders, pulleys, and rollers, or any other form that can realize the relative sliding of the two.

[0052] Optionally, the loading device can be a material cart. The material container of the loading device can be a material cage on the material cart; or the loading device can be a material cage directly.

[0053] Preferably, since lidar has good environmental adaptability, large distance and measurement range, and high accuracy, it can be used as the primary sensing device.

[0054] Alternatively, the traveling mechanism can be a tracked traveling mechanism or a wheeled traveling mechanism.

[0055] Alternatively, the lifting device can be a suction cup type lifting device, which uses a suction cup to pick up the photovoltaic array semi-finished product, or it can be a lifting device with a mechanical locking structure, such as lifting the photovoltaic array semi-finished product by a buckle or claw.

[0056] The location of at least one primary sensing device can be implemented in multiple ways.

[0057] In some embodiments, at least one first sensing device may be installed on the photovoltaic array semi-finished product mounting device. The position of the at least one first sensing device on the photovoltaic array semi-finished product mounting device can be flexibly set, as long as its sensing range covers at least one of the following areas in the work space: the area where the photovoltaic support is located, the area where the photovoltaic array semi-finished product loading device is located, the area where the hoist is located, and the area where the photovoltaic array semi-finished product is located.

[0058] In other embodiments, such as Figure 4 As shown, at least one first sensing device can be set at a designated relative position on the photovoltaic array semi-finished product installation equipment. For example, a support device 401 can be set near the photovoltaic bracket, and at least one first sensing device can be set at a designated position on the support device 401. When the photovoltaic array semi-finished product installation equipment reaches the vicinity of the photovoltaic bracket, the at least one first sensing device set on the support device 401 forms a designated relative positional relationship with the photovoltaic array semi-finished product installation equipment that meets the requirements. In this way, the at least one first sensing device, as a component of the photovoltaic array semi-finished product installation equipment, can cover at least one area in the work space, including the area where the photovoltaic bracket is located, the area where the photovoltaic array semi-finished product loading equipment is located, the area where the hoist is located, and the area where the photovoltaic array semi-finished product is located.

[0059] If at least one first sensing device is installed on the support device, the height of the at least one first sensing device on the support device can be adjusted according to the actual situation so that the sensing range of the at least one first sensing device can cover at least one of the following areas in the work space: the area where the photovoltaic bracket is located, the area where the photovoltaic array semi-finished product loading equipment is located, the area where the hoist is located, and the area where the photovoltaic array semi-finished product is located.

[0060] The area covered by the sensing range of at least one first sensing device can be implemented in various ways.

[0061] In some embodiments, the sensing range of a first sensing device can cover an area.

[0062] Optionally, the sensing range of the first sensing device can cover the area where the photovoltaic support is located;

[0063] Optionally, the sensing range of the first sensing device can cover the area where the loading equipment for the photovoltaic array semi-finished product is located in the work space;

[0064] Optionally, the sensing range of the first sensing device can cover the area where the lifting device is located in the work space;

[0065] Optionally, the sensing range of the first sensing device can cover the area where the photovoltaic array semi-finished product is located in the work space.

[0066] In other embodiments, the sensing range of a first sensing device can cover multiple areas. For example, the following are non-limiting examples:

[0067] Optionally, the sensing range of the first sensing device can cover the area where the photovoltaic support is located and the area where the photovoltaic array semi-finished product loading equipment is located;

[0068] Optionally, the sensing range of the first sensing device can cover the area where the photovoltaic support is located and the area where the hanging device is located;

[0069] Optionally, the sensing range of the first sensing device can cover the area where the loading equipment for the photovoltaic array semi-finished product is located and the area where the lifting device is located;

[0070] Optionally, the sensing range of the first sensing device can cover the area where the photovoltaic support is located, the area where the photovoltaic array semi-finished product loading equipment is located, and the area where the hoisting device is located;

[0071] Optionally, the sensing range of the first sensing device can cover the area where the photovoltaic support is located and the area where the photovoltaic array semi-finished product is suspended on the hoisting device;

[0072] Optionally, the sensing range of the first sensing device can cover the area where the photovoltaic array semi-finished product is loaded, the area where the hoist is located, and the area where the photovoltaic array semi-finished product is located inside the loading device.

[0073] When the sensing range of the first sensing device simultaneously covers the area where the photovoltaic support is located, the area where the loading equipment for the photovoltaic array semi-finished product is located, the area where the hoisting equipment is located, and the area where the photovoltaic array semi-finished product is located, the sensing range of the first sensing device can be maximized by setting a minimum number of first sensing devices, thereby reducing the cost of equipment used in the installation process of the photovoltaic array semi-finished product.

[0074] In another embodiment, the sensing range of the plurality of first sensing devices can cover an area, for example, the following non-limiting example:

[0075] Optionally, the sensing range of multiple first sensing devices can cover the area where the photovoltaic support is located;

[0076] Optionally, the sensing range of multiple first sensing devices can cover the area where the photovoltaic array semi-finished product loading equipment is located;

[0077] Optionally, the sensing range of multiple first sensing devices can cover the area where the spreader is located in the work space;

[0078] Optionally, the sensing range of multiple first sensing devices can cover the area where the photovoltaic array semi-finished product is located in the work space.

[0079] In another embodiment, the sensing range of the plurality of first sensing devices can cover multiple areas, as in the following non-limiting examples:

[0080] Optionally, the sensing range of multiple first sensing devices can cover the area where the photovoltaic support is located and the area where the photovoltaic array semi-finished product loading equipment is located;

[0081] Optionally, the sensing range of multiple first sensing devices can cover the area where the photovoltaic support is located and the area where the hoisting device is located in the work space;

[0082] Optionally, the sensing range of multiple first sensing devices can cover the area where the photovoltaic array semi-finished product loading equipment and the area where the lifting device are located in the work space;

[0083] Optionally, the sensing range of multiple first sensing devices can cover the area where the photovoltaic support is located, the area where the photovoltaic array semi-finished product loading equipment is located, and the area where the lifting equipment is located in the work space;

[0084] Optionally, the sensing range of multiple first sensing devices can cover the area where the photovoltaic support is located and the area where the photovoltaic array semi-finished product is suspended on the hoisting device;

[0085] Optionally, the sensing range of the multiple first sensing devices can cover the area where the photovoltaic array semi-finished product is loaded, the area where the hoist is located, and the area where the photovoltaic array semi-finished product is located inside the loading device.

[0086] Multiple primary sensing devices are set up in one or more areas, so that the detection data of multiple primary sensing devices can be integrated with each other, and the position and posture information of at least one of the photovoltaic brackets, loading equipment, hoists and photovoltaic array semi-finished products can be detected more accurately.

[0087] The composition of the photovoltaic array semi-finished product installation equipment will be described in detail below, taking at least one first sensing device for detecting the pose information of the photovoltaic bracket as an example.

[0088] In some optional embodiments, at least one first sensing device includes at least one photovoltaic support sensing device, the sensing range of which covers the area where the photovoltaic support is located, to detect the pose information of the photovoltaic support.

[0089] By using photovoltaic support sensing equipment to detect the position and orientation information of the photovoltaic support, the photovoltaic array semi-finished product installation equipment can accurately install the photovoltaic array semi-finished product onto the photovoltaic support based on the position and orientation information of the photovoltaic support.

[0090] There are multiple ways to set up the sensing devices on the photovoltaic bracket.

[0091] In one embodiment, the photovoltaic support sensing device is mounted on the vertical support assembly. Mounting the photovoltaic support sensing device on the vertical support assembly allows for effective detection of the photovoltaic support's position and orientation information from the side, avoiding obstruction of the sensing device by loading equipment and lifting devices, thus enabling accurate detection of the photovoltaic support's position and orientation information.

[0092] In another embodiment, such as Figure 3 As shown, the vertical support assembly 3011 includes at least two support units spaced apart along the sliding direction of the trolley; the photovoltaic bracket sensing device is disposed on the first support unit 3014, wherein the first support unit 3014 is the support unit that is closer to the photovoltaic bracket among the at least two support units.

[0093] Placing the photovoltaic (PV) bracket sensing device on a support unit close to the PV bracket can result in higher signal strength and better resolution for the sensing device, reducing the possibility of obstruction of the sensing range and enabling more accurate detection of the PV bracket's position and orientation information.

[0094] In another embodiment, such as Figure 4As shown, the photovoltaic bracket sensing device can be set at a designated relative position on the photovoltaic array semi-finished product installation equipment. For example, a support device 401 can be set near the photovoltaic bracket, and the photovoltaic bracket sensing device can be set at a designated position on the support device 401. When the photovoltaic array semi-finished product installation equipment reaches the vicinity of the photovoltaic bracket, the photovoltaic bracket sensing device set on the support device 401 and the photovoltaic array semi-finished product installation equipment form a designated relative position relationship that meets the requirements. In this way, as a component of the photovoltaic array semi-finished product installation equipment, the sensing range of the photovoltaic bracket sensing device can cover the area where the photovoltaic bracket is located.

[0095] In another embodiment, the photovoltaic support sensing device can also be mounted on the horizontal support assembly. When the photovoltaic support sensing device is mounted on the horizontal support assembly, the position and orientation information of the photovoltaic support can be detected from the top.

[0096] like Figure 3 As shown, the transverse support assembly 3012 includes a first crossbeam 305, a second crossbeam 306, a first connecting beam 3020, and a second connecting beam 3021. The trolley 302 slides along the first crossbeam 305 and the second crossbeam 306, and the first connecting beam 3020 and the second connecting beam 3021 are disposed between the first crossbeam 305 and the second crossbeam 306. Alternatively, other connecting beams may be provided between the first crossbeam 305 and the second crossbeam 306, such as connecting beams located in the middle section of the first crossbeam 305 and the second crossbeam 306.

[0097] Optionally, such as Figure 3 As shown, the photovoltaic support sensing device can be installed on one or more of the first crossbeam 305, the second crossbeam 306, the first connecting beam 3020, the second connecting beam 3021, and other connecting beams.

[0098] Preferably, such as Figure 3 As shown, the photovoltaic support sensing device can be installed in the middle section of the horizontal support component 3012, avoiding the area where it connects with the vertical support component 3011. For example, it can be installed in the middle section of the first crossbeam 305 and / or the second crossbeam 306, or on the connecting beam connecting the middle sections of the two. Because the first crossbeam 305 and the second crossbeam 306 have a large span, they are prone to torsional deformation, and the deformation is greater the closer they are to the vertical support component 3011. Therefore, installing the photovoltaic support sensing device in the middle section of the horizontal support component 3012 can reduce the impact of deformation and improve detection accuracy.

[0099] In practical use, the detection data from the photovoltaic bracket sensor installed on the horizontal support component can be fused with the detection data from the photovoltaic bracket sensor installed on the vertical support component, thereby enabling more accurate detection of the photovoltaic bracket's position and posture information.

[0100] The number of sensing devices on the photovoltaic support can be set to one or more.

[0101] like Figure 3 As shown, the vertical support assembly 3011 includes two support units spaced apart along the sliding direction of the trolley 302: a first support unit 3014 and a second support unit 3015. The first support unit 3014 is located near the photovoltaic bracket, and the second support unit 3015 is located near the loading equipment. The first support unit 3014 includes a first bracket 3016 and a second bracket 3017, which are connected by a connecting section 311. The second support unit 3015 includes a third bracket 3018 and a fourth bracket 3019.

[0102] In the case where there is only one sensing device on the photovoltaic support, as a non-limiting example, such as Figure 3 As shown, the photovoltaic support sensing device can be installed on the first support 3016, the second support 3017, or the connecting section 311, preferably in the middle area of ​​the connecting section 311.

[0103] In the case where there are two sensing devices on the photovoltaic support, as a non-limiting example, such as Figure 3 As shown, the photovoltaic support sensing device may include a first photovoltaic support sensing device 303 and a second photovoltaic support sensing device 304, wherein each photovoltaic support sensing device may be installed on the first support 3016, the second support 3017, or the connecting section 311. Preferably, the first photovoltaic support sensing device 303 is installed at the connection between the first support 3016 and the connecting section 311, and the second photovoltaic support sensing device 304 is installed at the connection between the second support 3017 and the connecting section 311.

[0104] Another non-restrictive example, such as Figure 3As shown, when there are two or more photovoltaic support sensing devices, the photovoltaic support sensing devices may include a first photovoltaic support sensing device 303 and / or a second photovoltaic support sensing device 304, and at least one top sensing device. The first photovoltaic support sensing device 303 and the second photovoltaic support sensing device 304 may be installed on the first support 3016, the second support 3017, or the connecting section 311. The top sensing device may be installed on the transverse support assembly 3012, such as one or more of the first crossbeam 305, the second crossbeam 306, the first connecting beam 3020, the second connecting beam 3021, and other connecting beams between the first crossbeam 305 and the second crossbeam 306. As an example, at least one top sensing device may include at least one of the following: a first top sensing device 309 on the first connecting beam 3020, a second top sensing device 307 on the first crossbeam 305, a third top sensing device 308 on the second crossbeam 306, and a fourth top sensing device 310 on the second connecting beam 3021. As described above, preferably, the top sensing device can be located on the middle section of the transverse support assembly 3012 to reduce the impact of beam deformation.

[0105] In the above embodiments, setting up multiple photovoltaic support sensing devices allows for the fusion of data from these devices, thereby making the detected pose information of the photovoltaic support more accurate.

[0106] It should be noted that the photovoltaic support sensing device can detect the position and posture information of the photovoltaic support before the trolley moves over the photovoltaic support, or after the trolley moves over the photovoltaic support.

[0107] The composition of the photovoltaic array semi-finished product installation equipment will be described in detail below, taking at least one first sensing device for detecting the pose information of the photovoltaic array semi-finished product as an example.

[0108] In some embodiments, at least one first sensing device includes a photovoltaic array semi-finished product sensing device, the sensing range of which covers the area where the photovoltaic array semi-finished product is located above the photovoltaic support, in order to detect the pose information of the photovoltaic array semi-finished product; the photovoltaic array semi-finished product sensing device is set at a position lower than the highest point of the photovoltaic support.

[0109] The sensing device for the photovoltaic array semi-finished product should be installed below the highest point of the photovoltaic support.

[0110] It should be noted that during the process of the lifting device moving the photovoltaic array semi-finished product above the photovoltaic bracket and installing it onto the bracket, the movement of the lifting device needs to be controlled based on the pose information of the photovoltaic array semi-finished product to accurately place it on the photovoltaic bracket. Therefore, the sensing range of the photovoltaic array semi-finished product sensing device should cover the area above the photovoltaic bracket where the semi-finished product is located. Furthermore, to avoid the sensing range of the photovoltaic array semi-finished product sensing device being obstructed by the lifting device, the device should be positioned below the highest point of the photovoltaic bracket. This allows the sensing device to effectively and accurately detect the pose information of the bottom surface of the photovoltaic array semi-finished product from the side of the photovoltaic bracket, and based on this pose information, accurately place the photovoltaic array semi-finished product onto the photovoltaic bracket.

[0111] Based on this, there are multiple ways to set up the sensing device for the photovoltaic array semi-finished product.

[0112] In one embodiment, such as Figure 3 As shown, the photovoltaic array semi-finished product sensing device is mounted on the vertical support component 3011, preferably on the aforementioned first support unit 3014. For example, the photovoltaic array semi-finished product sensing device can be mounted on the first bracket 3016, the second bracket 3017, or the connecting section 311, and positioned below the highest point of the photovoltaic bracket.

[0113] In another embodiment, when the photovoltaic support is tilted, the photovoltaic array semi-finished product sensing device can be positioned flush with the middle of the photovoltaic support.

[0114] In another embodiment, such as Figure 4 As shown, the photovoltaic array semi-finished product sensing device can be set at a designated relative position on the photovoltaic array semi-finished product installation equipment. For example, a support device 401 can be set near the photovoltaic bracket, and the photovoltaic array semi-finished product sensing device can be set at a designated position on the support device 401. When the photovoltaic array semi-finished product installation equipment reaches the vicinity of the photovoltaic bracket, the photovoltaic array semi-finished product sensing device set on the support device 401 forms a designated relative position relationship with the photovoltaic array semi-finished product installation equipment that meets the requirements. In this way, the photovoltaic array semi-finished product sensing device, as a component of the photovoltaic array semi-finished product installation equipment, can cover the area where the photovoltaic array semi-finished product is located.

[0115] The number of sensing devices for photovoltaic array semi-finished products can be set to one or more.

[0116] The installation locations for sensing devices of varying quantities of optical array semi-finished products can be referenced from the installation locations of sensing devices on photovoltaic brackets.

[0117] During the process of installing photovoltaic array semi-finished products onto photovoltaic brackets, the photovoltaic array semi-finished product installation equipment needs to detect the pose information of the photovoltaic array semi-finished products, such as the pose information of the bottom surface of the photovoltaic array semi-finished products. Therefore, the sensing range of the photovoltaic array semi-finished product sensing equipment needs to cover the area where the photovoltaic array semi-finished products are located above the photovoltaic brackets, so that the pose information of the photovoltaic array semi-finished products can be accurately detected based on the photovoltaic array semi-finished product sensing equipment.

[0118] The following section will take a photovoltaic bracket sensing device, used to detect the pose information of photovoltaic array semi-finished products, as an example to explain in detail the composition of photovoltaic array semi-finished product installation equipment.

[0119] In some optional embodiments, the sensing range of the photovoltaic support sensing device also covers the area above the photovoltaic array semi-finished product located above the photovoltaic support, in order to detect the pose information of the photovoltaic array semi-finished product; the photovoltaic support sensing device is set on the first support unit at a position lower than the highest point of the photovoltaic support. That is, the sensing device used to detect the pose information of the photovoltaic support can be reused with the sensing device used to detect the pose information of the photovoltaic array semi-finished product. As described above, the photovoltaic support sensing device can preferably be set on the first support unit 3014 of the vertical support component 3011, specifically, it can be set on the first support 3016, the second support 3017, or the connecting section 311, and at a position lower than the highest point of the photovoltaic support.

[0120] Optionally, such as Figure 3 As shown, when the photovoltaic support sensing device and the photovoltaic array semi-finished product sensing device are reused, and there are two photovoltaic support sensing devices, one of the photovoltaic support sensing devices can be installed on the first support unit 3014, and the other photovoltaic support sensing device can be a top sensing device. This top sensing device can be, for example, a second top sensing device 307 or a third top sensing device 308 installed on the crossbeam 3022.

[0121] Optionally, such as Figure 3As shown, when the photovoltaic support sensing device and the photovoltaic array semi-finished product sensing device are reused, and the number of photovoltaic support sensing devices is two, the photovoltaic support sensing devices can include a first photovoltaic support sensing device 303 and a second photovoltaic support sensing device 304. Each photovoltaic support sensing device is installed on the first support 3016, the second support 3017, or the connecting section 311. Preferably, the first photovoltaic support sensing device 303 is installed at the connection between the first support 3016 and the connecting section 311, and the second photovoltaic support sensing device 304 is installed at the connection between the second support 3017 and the connecting section 311. By fusing the detection data of the first photovoltaic support sensing device 303 and the second photovoltaic support sensing device 304, more accurate pose information of the photovoltaic support and the photovoltaic array semi-finished product is obtained, thereby reducing the overall cost of installing the photovoltaic array semi-finished product by setting a minimum number of sensing devices.

[0122] By placing the photovoltaic (PV) bracket sensing equipment on the first support unit, below the highest point of the PV bracket, the sensing range of the PV bracket sensing equipment can cover not only the area where the PV bracket is located, but also the area above the PV array semi-finished products. In other words, by reusing the PV bracket sensing equipment and the PV array semi-finished product sensing equipment, the number of sensing devices required is reduced, thereby lowering the cost of installing the PV array semi-finished products.

[0123] The composition of the photovoltaic array semi-finished product installation equipment will be described in detail below, taking at least one first sensing device for detecting the position and orientation information of the loading equipment and / or lifting device as an example.

[0124] In some optional embodiments, the sensing range of at least one or more first sensing devices covers the area where the loading device is located and / or the area where the spreader above the loading device is located, in order to detect the position and orientation information of the loading device and / or the spreader; the vertical support assembly includes at least two support units spaced apart along the sliding direction of the trolley, and one or more first sensing devices are disposed on the horizontal support assembly and / or on the second support unit closer to the loading device among the at least two support units.

[0125] The area covered by the sensing range of one or more first sensing devices can be implemented in various ways.

[0126] In one embodiment, the sensing range of a first sensing device can cover an area.

[0127] Optionally, the sensing range of the first sensing device can cover the area where the loading device is located;

[0128] Optionally, the sensing range of the first sensing device can cover the area where the lifting device is located above the loading equipment.

[0129] In another embodiment, the sensing range of a first sensing device can cover multiple areas.

[0130] Optionally, the sensing range of a first sensing device can cover the area where the loading equipment is located and the area where the lifting device above the loading equipment is located.

[0131] If a first sensing device is installed in the area where the loading equipment is located and / or in the area where the hoisting device is located above the loading equipment, the sensing range of the first sensing device can be maximized by setting a minimum number of first sensing devices, thereby reducing the cost of equipment used in the installation of photovoltaic array semi-finished products.

[0132] In another embodiment, the sensing range of the plurality of first sensing devices can cover an area.

[0133] Optionally, the sensing range of multiple first sensing devices can cover the area where the loading device is located;

[0134] Optionally, the sensing range of multiple first sensing devices can cover the area where the lifting device is located above the loading equipment.

[0135] In another embodiment, the sensing range of the multiple first sensing devices can cover multiple areas.

[0136] Optionally, the sensing range of the multiple first sensing devices can cover the area where the loading equipment is located and the area where the lifting device above the loading equipment is located.

[0137] By setting up multiple primary sensing devices in one or more areas, the detection data from these devices can be integrated to more accurately detect the position and orientation information of the loading equipment and / or the lifting device.

[0138] There are multiple ways to set up one or more first sensing devices.

[0139] In one embodiment, one or more first sensing devices may be mounted on the lateral support assembly. Since the height of the lateral support assembly is greater than the height of the loading equipment and the spreader, mounting one or more first sensing devices on the lateral support assembly allows for more accurate detection of the position and orientation information of the loading equipment and / or the spreader.

[0140] like Figure 3 As shown, one or more first sensing devices can be disposed on one or more of the first crossbeam 305, second crossbeam 306, first connecting beam 3020, second connecting beam 3021, and other connecting beams of the transverse support assembly 3012. Preferably, they are disposed in the middle section of the transverse support assembly 3012 to reduce the impact of deformation and improve detection accuracy.

[0141] In another embodiment, one or more first sensing devices may be disposed in a second support unit that is closer to the loading device in at least two support units.

[0142] like Figure 3 As shown, one or more first sensing devices may be disposed on one or more of the third bracket 3018, the fourth bracket 3019, and the connection section between the third bracket 3018 and the fourth bracket 3019 of the second support unit 3015.

[0143] If the loading device is close to the second support unit 3015, and the first sensing device is placed on the second support unit 3015, the first sensing device may only be able to detect partial information of the loading device and / or the lifting device. In this case, it is preferable to place the first sensing device on the lateral support assembly 3012 to comprehensively detect the position and orientation information of the loading device and / or the lifting device.

[0144] In another embodiment, such as Figure 4 As shown, one or more first sensing devices can be set at a designated relative position on the photovoltaic array semi-finished product installation equipment. For example, a support device 401 can be set near the loading equipment, and one or more first sensing devices can be set at a designated position on the support device 401. When the photovoltaic array semi-finished product installation equipment reaches the vicinity of the loading equipment, one or more first sensing devices set on the support device 401 form a designated relative position relationship with the photovoltaic array semi-finished product installation equipment that meets the requirements. In this way, one or more first sensing devices, as components of the photovoltaic array semi-finished product installation equipment, can cover the area where the loading equipment is located and / or the area where the lifting device above the loading equipment is located.

[0145] The number of first sensing devices can be set to one or more.

[0146] By setting the sensing range of one or more first sensing devices to cover the area where the loading equipment is located and / or the area where the lifting device above the loading equipment is located, the positional information of the loading equipment and / or the lifting device can be effectively detected. Based on the detected positional information of the loading equipment and / or the lifting device, the positional information of the lifting device can be adjusted, thereby improving the success rate of the lifting device in grabbing the photovoltaic array semi-finished product, as well as improving the efficiency and accuracy of the installation operation.

[0147] The following section will describe in detail the composition of the photovoltaic array semi-finished product installation equipment, taking one or more first sensing devices used to detect the pose information of the photovoltaic array semi-finished product inside the loading equipment as an example.

[0148] In some optional embodiments, the sensing range of at least one or more first sensing devices covers the area where the photovoltaic array semi-finished product is located within the loading device, so as to detect the pose information of the photovoltaic array semi-finished product within the loading device; one or more first sensing devices are disposed on the transverse support component and are positioned higher than the top opening of the loading device.

[0149] The top opening position of the loading equipment, that is, the highest point of the material container of the loading equipment.

[0150] It should be noted that when the lifting device retrieves the photovoltaic array semi-finished product from the material container of the loading equipment, it needs to be controlled based on the positional information of the photovoltaic array semi-finished products stacked layer by layer within the material container of the loading equipment in order to successfully retrieve the photovoltaic array semi-finished product. Therefore, the sensing range of one or more first sensing devices should cover the area where the photovoltaic array semi-finished product is located within the loading equipment. Furthermore, to avoid obstruction of the sensing range of one or more first sensing devices, the one or more first sensing devices should be positioned on the horizontal support assembly, and their position should be higher than the top opening of the loading equipment. This allows the one or more first sensing devices to detect the positional information of the photovoltaic array semi-finished product from the top.

[0151] Therefore, there are multiple ways to set up one or more first sensing devices.

[0152] In one embodiment, such as Figure 3 As shown, one or more first sensing devices can be disposed on the first crossbeam 305 and / or the second crossbeam 306. Preferably, one or more first sensing devices can be disposed on the middle section of the first crossbeam 305 and / or the second crossbeam 306, which can reduce the impact of deformation and improve detection accuracy.

[0153] Optionally, such as Figure 3 As shown, one or more first sensing devices can be disposed on the first connecting beam 3020 and / or the second connecting beam 3021. If one or more first sensing devices are disposed on the first connecting beam 3020 and / or the second connecting beam 3021, the deformation of the crossbeam 3022 may cause errors between the pose information detected by the first sensing devices and the actual information. The pose information of the photovoltaic array semi-finished product can be corrected before use. As a variation, one or more first sensing devices can also be disposed on other connecting beams between the first crossbeam 305 and the second crossbeam 306.

[0154] In another embodiment, such as Figure 4As shown, one or more first sensing devices can be set at a designated relative position on the photovoltaic array semi-finished product installation equipment. For example, a support device 401 can be set near the loading device, and one or more first sensing devices can be set at a designated position on the support device 401. When the photovoltaic array semi-finished product installation equipment reaches the vicinity of the loading device, one or more first sensing devices set on the support device 401 form a designated relative position relationship with the photovoltaic array semi-finished product installation equipment that meets the requirements. In this way, one or more first sensing devices, as components of the photovoltaic array semi-finished product installation equipment, can cover the area where the photovoltaic array semi-finished product is located.

[0155] The number of first sensing devices can be set to one or more.

[0156] The installation locations of different numbers of first sensing devices can be referenced from the installation locations of the top sensing devices in the photovoltaic bracket sensing equipment.

[0157] The first sensing device is placed on the horizontal support component and above the top opening of the loading device, so that the sensing range of one or more first sensing devices can maximize the coverage of the area where the photovoltaic array semi-finished product is located inside the loading device, and can avoid the obstruction of the device equipment parked on the side of the photovoltaic bracket, thereby enabling more accurate detection of the position and pose information of the photovoltaic array semi-finished product.

[0158] The composition of the photovoltaic array semi-finished product installation equipment will be described in detail below, taking at least one first sensing device for detecting the position and pose information of at least one of the loading equipment, the photovoltaic array semi-finished product inside the loading equipment, and the lifting device as an example.

[0159] In some optional embodiments, at least one first sensing device includes at least one top sensing device. The sensing range of the top sensing device covers at least one of the areas where the loading device is located, the area where the lifting device above the loading device is located, and the area where the photovoltaic array semi-finished product is located inside the loading device. It is used to detect the position and pose information of at least one of the loading device, the photovoltaic array semi-finished product inside the loading device, and the lifting device. The top sensing device is disposed on the middle section of the transverse support component and is positioned higher than the top opening of the loading device.

[0160] The middle section of the horizontal support component can be the area outside the connection area with the vertical support component.

[0161] The area covered by the sensing range of at least one top sensing device can be implemented in various ways.

[0162] In one embodiment, the sensing range of a top sensing device can cover an area.

[0163] Optionally, the sensing range of the top sensing device can cover the area where the loading device is located;

[0164] Optionally, the sensing range of the top sensing device can also cover the area where the spreader is located above the loading equipment;

[0165] Alternatively, the sensing range of the top sensing device can also cover the area where the photovoltaic array semi-finished product is located inside the loading device.

[0166] In another embodiment, the sensing range of a top sensing device can cover multiple areas.

[0167] Optionally, the sensing range of the top sensing device can cover the area where the loading equipment is located and the area where the spreader above the loading equipment is located;

[0168] Optionally, the sensing range of the top sensing device can also cover the area where the loading device is located and the area where the photovoltaic array semi-finished product is located inside the loading device;

[0169] Optionally, the sensing range of the top sensing device can cover the area where the lifting device is located above the loading device and the area where the photovoltaic array semi-finished product is located inside the loading device;

[0170] Optionally, the sensing range of the top-mounted sensing device can simultaneously cover the area where the loading equipment is located, the area where the hoisting equipment above the loading equipment is located, and the area where the photovoltaic array semi-finished product is located inside the loading equipment. This allows for maximizing the coverage area of ​​the top-mounted sensing device by setting up a smaller number of sensing devices, thereby reducing the cost of equipment used during the installation of the photovoltaic array semi-finished product.

[0171] In another embodiment, the sensing range of multiple top sensing radars can cover an area.

[0172] Optionally, the sensing range of multiple top sensing devices can cover the area where the loading device is located;

[0173] Optionally, the sensing range of multiple top sensing devices can also cover the area where the spreader is located above the loading equipment;

[0174] Optionally, the sensing range of multiple top sensing devices can also cover the area where the photovoltaic array semi-finished product is located inside the loading equipment.

[0175] In another embodiment, the sensing range of multiple top sensing radars can cover multiple areas.

[0176] Optionally, the sensing range of multiple top sensing devices can cover the area where the loading equipment is located and the area where the spreader above the loading equipment is located;

[0177] Optionally, the sensing range of multiple top sensing devices can also cover the area where the loading equipment is located and the area where the photovoltaic array semi-finished product is located inside the loading equipment;

[0178] Optionally, the sensing range of multiple top sensing devices can cover the area where the lifting device is located above the loading device and the area where the photovoltaic array semi-finished product is located inside the loading device;

[0179] Optionally, the sensing range of multiple top sensing devices can simultaneously cover the area where the loading equipment is located, the area where the hoisting device above the loading equipment is located, and the area where the photovoltaic array semi-finished product is located inside the loading equipment.

[0180] Multiple top sensing devices can be set up in one or more areas, so that the detection data of multiple top sensing devices can be integrated with each other, and the position and posture information of at least one of the loading equipment, photovoltaic array semi-finished products inside the loading equipment, and lifting equipment can be detected more accurately.

[0181] The location of at least one top sensing device can be implemented in multiple ways.

[0182] In one embodiment, such as Figure 3 As shown, at least one top sensing device may be installed on the middle section of the first crossbeam 305 or the second crossbeam 306, and the installation position is higher than the top opening of the loading device.

[0183] Optionally, such as Figure 3 As shown, at least one top sensing device may also be disposed on a connecting beam other than the first connecting beam 3020 and the second connecting beam 3021 between the first crossbeam 305 and the second crossbeam 306.

[0184] In another embodiment, such as Figure 4 As shown, at least one top sensing device can be set at a designated relative position on the photovoltaic array semi-finished product installation equipment. For example, a support device 401 can be set near the loading equipment, and the top sensing device can be set at a designated position on the support device 401. When the photovoltaic array semi-finished product installation equipment reaches the vicinity of the photovoltaic bracket, the top sensing device set on the support device 401 forms a designated relative position relationship with the photovoltaic array semi-finished product installation equipment that meets the requirements. In this way, the top sensing device, as a component of the photovoltaic array semi-finished product installation equipment, can cover the area where the photovoltaic array semi-finished product is located.

[0185] The number of top sensing devices can be set to one or more.

[0186] The installation locations for different numbers of top sensing devices can be referenced from the installation locations of top sensing devices in photovoltaic bracket sensing equipment.

[0187] like Figure 5As shown, when a top sensing device is installed on the horizontal support component 3012 and a photovoltaic bracket sensing device is installed on the vertical support component 3011, the sensing range of the top sensing device and the photovoltaic bracket sensing device can cover the area where the photovoltaic bracket is located, the area where the loading equipment is located, the area where the hoisting device above the loading equipment is located, and the area where the photovoltaic array semi-finished product is located inside the loading equipment.

[0188] The top sensing device is placed on the middle section of the horizontal support component, and its position is higher than the top opening of the loading equipment. In this way, the top sensing device can accurately detect the position and posture information of at least one of the loading equipment, the photovoltaic array semi-finished product inside the loading equipment, and the lifting device.

[0189] The composition of the photovoltaic array semi-finished product installation equipment will be described in detail below, taking at least one second sensing device for detecting obstacles in at least one of the areas on the front, rear, left, and right sides of the photovoltaic array semi-finished product installation equipment as an example.

[0190] In some optional embodiments, the photovoltaic array semi-finished product installation equipment further includes at least one second sensing device, the sensing range of which covers an area of ​​at least one of the front, rear, left, and right sides of the photovoltaic array semi-finished product installation equipment, in order to detect obstacles.

[0191] It should be understood that the area in the forward direction of the photovoltaic array semi-finished product installation equipment is the front side of the photovoltaic array semi-finished product installation equipment, with the photovoltaic array semi-finished product installation equipment as the center.

[0192] The second sensing device can be a three-dimensional information acquisition device used to acquire the three-dimensional information of a target object, such as its pose information in a three-dimensional coordinate system. For example, the second sensing device can be a lidar, structured light scanner, time-of-flight sensor, binocular camera, etc. Among these, lidar is preferred as the second sensing device due to its good environmental adaptability, large distance and measurement range, and high accuracy.

[0193] The area covered by the sensing range of at least one second sensing device can be implemented in various ways.

[0194] In one embodiment, the sensing range of a second sensing device can cover an area.

[0195] Optionally, the sensing range of the second sensing device covers the front side of the photovoltaic array semi-finished product installation equipment;

[0196] Optionally, the sensing range of the second sensing device covers the rear side of the photovoltaic array semi-finished product installation equipment;

[0197] Optionally, the sensing range of the second sensing device covers the left side of the photovoltaic array semi-finished product installation equipment;

[0198] Optionally, the sensing range of the second sensing device covers the right side of the photovoltaic array semi-finished product installation equipment.

[0199] In another embodiment, the sensing range of multiple second sensing devices can cover an area.

[0200] Optionally, the sensing range of multiple second sensing devices covers the front side of the photovoltaic array semi-finished product installation equipment;

[0201] Optionally, the sensing range of multiple second sensing devices covers the rear side of the photovoltaic array semi-finished product installation equipment;

[0202] Optionally, the sensing range of multiple second sensing devices covers the left side of the photovoltaic array semi-finished product installation equipment;

[0203] Optionally, the sensing range of multiple second sensing devices covers the right side of the photovoltaic array semi-finished product installation equipment.

[0204] In another embodiment, the sensing range of a second sensing device can cover multiple areas.

[0205] Optionally, the sensing range of the second sensing device covers at least two or more of the front, rear, left, and right sides of the photovoltaic array semi-finished product installation equipment.

[0206] In another embodiment, the sensing range of the multiple second sensing devices can cover multiple areas.

[0207] Optionally, the sensing range of the multiple second sensing devices covers at least two or more of the front, rear, left, and right sides of the photovoltaic array semi-finished installation equipment.

[0208] The location of at least one second sensing device can be implemented in various ways.

[0209] In one embodiment, the second sensing device can be disposed on the transverse support assembly, for example, on at least one of the first crossbeam 305, the second crossbeam 306, the first connecting beam 3020, the second connecting beam 3021, and other connecting beams between the first crossbeam 305 and the second crossbeam 306. When the second sensing device is disposed on the transverse support assembly, it can detect the area surrounding the photovoltaic array semi-finished installation equipment from above, thus maximizing the sensing range of the second sensing device. Therefore, by setting a minimum number of second sensing devices, the detection of the area surrounding the photovoltaic array semi-finished installation equipment can be maximized.

[0210] In another embodiment, such as Figure 4As shown, at least one second sensing device can be set at a designated relative position on the photovoltaic array semi-finished product installation equipment. For example, a support device 401 can be set near the photovoltaic array semi-finished product installation equipment, and at least one second sensing device can be set at a designated position on the support device 401. When the photovoltaic array semi-finished product installation equipment reaches the vicinity of the loading equipment, at least one second sensing device set on the support device 401 forms a designated relative position relationship with the photovoltaic array semi-finished product installation equipment that meets the requirements. In this way, at least one second sensing device, as a component of the photovoltaic array semi-finished product installation equipment, can cover the area of ​​at least one of the front, rear, left, and right sides of the photovoltaic array semi-finished product installation equipment.

[0211] Because the trolley 302 and the lifting device 312 are in Figure 3 The device moves back and forth on the first crossbeam 305 and the second crossbeam 306, thus prohibiting personnel and vehicles from entering under the photovoltaic array semi-finished product installation equipment. The sensing range of at least one second sensing device can cover at least a portion of the working space of the photovoltaic array semi-finished product installation equipment, enabling relatively accurate and rapid detection of obstacles under the equipment.

[0212] The number of second sensing devices can be set to one or more.

[0213] The installation locations of different numbers of second sensing devices can be referenced from the installation locations of the top sensing devices in the photovoltaic bracket sensing equipment.

[0214] like Figure 6 As shown, when multiple second sensing devices are installed on the horizontal support component 3012 and a photovoltaic bracket sensing device is installed on the vertical support component 3011, the sensing range of the multiple second sensing devices and the photovoltaic bracket sensing device can cover the area where the photovoltaic bracket is located, the area where the loading equipment is located, the area where the hoisting device above the loading equipment is located, the area where the photovoltaic array semi-finished product is located inside the loading equipment, the left and right areas of the photovoltaic array semi-finished product installation equipment.

[0215] like Figure 7 As shown, when there are four second sensing devices, the second sensing devices can be located on the first connecting beam 3020, the second connecting beam 3021, the first crossbeam 305, and the second crossbeam 306, respectively. In this way, the sensing range of the second sensing devices can simultaneously cover the entire area of ​​the front, rear, left, and right sides of the photovoltaic array semi-finished product installation equipment.

[0216] By having at least one second sensing device cover the area on at least one of the front, rear, left, and right sides of the photovoltaic array semi-finished installation equipment, obstacles on at least one side of the photovoltaic array semi-finished installation equipment can be detected, thereby making the photovoltaic array semi-finished installation equipment more secure.

[0217] In some optional embodiments, the sensing range of the top sensing device also covers the area on the front or rear side of the photovoltaic array semi-finished installation equipment to detect obstacles. Since the top sensing device is positioned on the middle section of the lateral support assembly and is located above the top opening of the loading equipment, its sensing range also covers the area on the front or rear side of the photovoltaic array semi-finished installation equipment, thereby enabling the detection of obstacles in that area.

[0218] Since the sensing range of the top sensing device also covers the area in front of or behind the photovoltaic array semi-finished product installation equipment, in some scenarios, the top sensing device can be reused with the second sensing device.

[0219] The location of the top sensing device is as follows: Figure 3 When the first crossbeam 305 is shown, the sensing range of the top sensing device also covers the front side of the photovoltaic array semi-finished product installation device, thereby detecting obstacles in the front area of ​​the photovoltaic array semi-finished product installation device.

[0220] The location of the top sensing device is as follows: Figure 3 When the second crossbeam 306 is shown, the sensing range of the top sensing device also covers the rear side of the photovoltaic array semi-finished product installation device, thereby detecting obstacles in the rear area of ​​the photovoltaic array semi-finished product installation device.

[0221] In some optional embodiments, the photovoltaic array semi-finished product installation equipment also includes a navigation device disposed on the lateral support component, thereby enabling the photovoltaic array semi-finished product installation equipment to drive autonomously based on the navigation device. The navigation device may include, but is not limited to, a GNSS navigation system, such as the GPS navigation system, the BeiDou satellite navigation system, etc.

[0222] By utilizing detection data from sensing devices, obstacles can be detected around the photovoltaic array semi-finished product installation equipment and in the work space. Combined with a navigation system, this can determine if there is a potential collision between the photovoltaic array semi-finished product installation equipment and obstacles. If a collision tendency is detected, the equipment's trajectory can be stopped or adjusted in advance.

[0223] The photovoltaic array semi-finished product installation equipment of this application automates the installation process by using sensing devices, thereby improving work efficiency. Furthermore, by setting a minimum number of sensing devices, the maximum detection coverage is achieved, effectively reducing hardware and computing costs. Simultaneously, the various sensing devices can compensate for blind spots in terms of viewing angle, achieving full coverage of the area surrounding the photovoltaic array semi-finished product installation equipment and improving the safety of the installation operation. Utilizing the high-precision measurement characteristics of the sensing devices, combined with multi-sensor point cloud fusion and processing algorithms, the positioning accuracy during installation can be effectively improved, increasing the success rate of the operation.

[0224] In the description of the embodiments in this application, the term "and / or" is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, m and / or n can represent: m alone, m and n simultaneously, and n alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0225] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two).

[0226] In the embodiments of this application, "parallel" includes not only the case of absolute parallelism, but also the case of approximate parallelism as commonly understood in engineering; similarly, "perpendicular" also includes not only the case of absolute perpendicularity, but also the case of approximate perpendicularity as commonly understood in engineering. For example, if the angle between two directions is 85°-90°, the two directions can be considered perpendicular; if the angle between two directions is 0°-5°, the two directions can be considered parallel.

[0227] The above are merely specific embodiments of this application, but the scope of protection 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 scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A photovoltaic array semi-finished product installation device, used to install a photovoltaic array semi-finished product onto a photovoltaic bracket, wherein the photovoltaic array semi-finished product comprises multiple photovoltaic panels, characterized in that, The main vehicle comprises a vertical support assembly, a transverse support assembly, and a walking mechanism assembly, the transverse support assembly is carried on one side of the vertical support assembly along the vertical direction, the walking mechanism assembly is arranged on the other side of the vertical support assembly along the vertical direction, and the transverse support assembly and the vertical support assembly enclose a working space; The trolley is slidably connected to the transverse support assembly of the main vehicle and can be connected to a lifting appliance configured to hoist the photovoltaic array semi-product in the working space; At least one first sensing device, the sensing range of the at least one first sensing device covers at least one of the area where the photovoltaic support is located, the area where the loading device of the photovoltaic array semi-product is located, the area where the lifting appliance is located, and the area where the photovoltaic array semi-product is located in the working space, to detect the pose information of at least one of the photovoltaic support, the loading device, the lifting appliance, and the photovoltaic array semi-product; The at least one first sensing device comprises a photovoltaic array semi-product sensing device, and the sensing range of the photovoltaic array semi-product sensing device covers the area where the photovoltaic array semi-product is located above the photovoltaic support, to detect the pose information of the photovoltaic array semi-product; The photovoltaic array semi-product sensing device is arranged at a position lower than the highest point of the photovoltaic support, to detect the pose information of the bottom surface of the photovoltaic array semi-product. The at least one first sensing device comprises at least one photovoltaic support sensing device, and the sensing range of the photovoltaic support sensing device covers the area where the photovoltaic support is located, to detect the pose information of the photovoltaic support; 2. The photovoltaic array semi-finished product mounting apparatus according to claim 1, characterized in that, The photovoltaic support sensing device is arranged on the vertical support assembly. The vertical support assembly comprises at least two support units arranged at intervals along the sliding direction of the trolley; 3. The photovoltaic array semi-finished product mounting apparatus according to claim 2, wherein, The photovoltaic support sensing device is arranged on the first support unit, and the first support unit is the support unit closest to the photovoltaic support among the at least two support units. The sensing range of the photovoltaic support sensing device further covers the lifting appliance and the area where the photovoltaic array semi-product is located above the photovoltaic support, to detect the pose information of the photovoltaic array semi-product; 4. The photovoltaic array semi-finished product mounting apparatus according to claim 3, wherein, The photovoltaic support sensing device is arranged on the first support unit at a position lower than the highest point of the photovoltaic support. The sensing range of one or more first sensing devices among the at least one first sensing device covers the area where the loading device is located and / or covers the area where the lifting appliance is located above the loading device, to detect the pose information of the loading device and / or the lifting appliance; 5. The photovoltaic array semi-finished product mounting apparatus according to any of claims 1-4, characterized in that, The vertical support assembly comprises at least two support units arranged at intervals along the sliding direction of the trolley, and the one or more first sensing devices are arranged on the transverse support assembly and / or a second support unit closest to the loading device among the at least two support units. The sensing range of one or more first sensing devices among the at least one first sensing device covers the area where the photovoltaic array semi-product is located in the loading device, to detect the pose information of the photovoltaic array semi-product in the loading device; 6. The photovoltaic array semi-finished product mounting apparatus according to any one of claims 1-4, wherein, ​ The one or more first sensing devices are arranged on the lateral support assembly and are arranged at a position higher than a top opening position of the loading device.

7. The photovoltaic array semi-finished product mounting apparatus according to any of claims 1-4, characterized in that, The at least one first sensing device comprises at least one top sensing device, a sensing range of the top sensing device covering at least one of a region where the loading device is located, a region where the spreader above the loading device is located, and a region where the photovoltaic array semi-finished product in the loading device is located, for detecting pose information of at least one of the loading device, the photovoltaic array semi-finished product in the loading device, and the spreader. The top sensing device is arranged on a middle section of the lateral support assembly and is arranged at a position higher than a top opening position of the loading device.

8. The photovoltaic array semi-finished product mounting apparatus according to claim 7, wherein, The sensing range of the top sensing device covers the region where the loading device is located, the region where the spreader above the loading device is located, and the region where the photovoltaic array semi-finished product in the loading device is located.

9. The photovoltaic array semi-finished product mounting apparatus according to claim 1, wherein Further comprising at least one second sensing device, a sensing range of the at least one second sensing device covering a region of at least one of a front side, a rear side, a left side, and a right side of the photovoltaic array semi-finished product mounting device, for detecting an obstacle.

10. The photovoltaic array semi-finished product mounting apparatus according to claim 9, wherein The second sensing device is arranged on the lateral support assembly.

11. The photovoltaic array semi-finished good mounting apparatus according to claim 7, wherein, The sensing range of the top sensing device further covers a region of the front side or the rear side of the photovoltaic array semi-finished product mounting device, for detecting an obstacle.

12. The photovoltaic array semi-finished product mounting apparatus according to claim 1, wherein The photovoltaic array semi-finished product mounting device further comprises a navigation device, the navigation device being arranged on the lateral support assembly.

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