Method for the automated arrangement of a photovoltaic support system

Abstract

The invention relates to a method for the automated arrangement of a photovoltaic support system on grounds having a ground surface and underlying ground.

Description

[0001] Method for the automated arrangement of a photovoltaic support system

[0002] The invention relates to a method for the automated arrangement of a photovoltaic support system on an area comprising a ground surface and a soil according to claim 1.

[0003] DE102011116926B3 is known from the prior art, which discloses a photovoltaic support system for a photovoltaic system comprising photovoltaic modules. The support elements are arranged in the ground of an area by one or more workers. The installation of the support elements into the ground can be carried out manually by the workers or by an assembly device. Such an assembly device is shown, for example, in DE102013005395B4. A disadvantage is that the construction and installation of the photovoltaic support system is only possible with increased personnel expenditure and thus at increased costs. Operating the assembly device, which is designed as a tracked vehicle, also requires additional workers, which further increases the assembly costs, in particular the personnel costs for installing the photovoltaic support system.Likewise, the arrangement of the support elements within the floor is based on the experience and assessment of the worker operating the tracked vehicle, so that inaccuracies in the arrangement of the photovoltaic support system can also lead to inaccuracies during assembly, which could ultimately have a negative impact on energy generation because the photovoltaic modules may not be positioned at an optimal angle to the sun to ensure the best possible energy generation.

[0004] Therefore, the object of the invention is to provide a method for arranging a photovoltaic support system on an area, in which the assembly costs are reduced and in addition the energy generation by the photovoltaic system is improved.

[0005] The problem is solved by patent claim 1. A method is provided for the automated arrangement of a photovoltaic support system on an area having a ground surface and a ground, wherein the photovoltaic support system comprises at least two support elements for arranging a photovoltaic unit having at least two photovoltaic modules, wherein a movable mounting device is provided for receiving the support elements, wherein the support elements are arranged with the mounting device at least partially in the ground and / or on the ground surface, wherein the method comprises the following steps:

[0006] Determination and / or measurement of the area on which the support elements are arranged, detection of at least three location coordinates, in particular for determining and / or measuring the area for the arrangement of the photovoltaic support system, wherein the respective location coordinate comprises a width x, in particular an x-coordinate, a length y, in particular a y-coordinate and preferably a height z, in particular a z-coordinate,

[0007] Recording further location coordinates of the area for the arrangement of the respective support element,

[0008] Determining an assembly start location coordinate based on the recorded location coordinates, wherein the assembly start location coordinate determines the position of the first support element of the photovoltaic support system to be mounted, transmitting the location coordinates and / or the assembly start coordinate to an assembly device and / or to a worker,

[0009] - Arranging and / or inserting the first support element to be assembled into the ground and / or onto the ground surface with the assembly device and / or by the worker at the position of the assembly start coordinate.

[0010] This solution reduces the personnel required to assemble the photovoltaic support system because the installation process is fully automated. By precisely recording the area and the aforementioned location coordinates, the photovoltaic support system, particularly the individual support elements, can be arranged very precisely. The assembly device is supplied with the relevant data, in particular location coordinates and / or the corresponding assembly start coordinates, so that the assembly device can precisely arrange the respective support element in the x-direction, y-direction, and z-direction according to the desired, previously defined specifications. As a result, the photovoltaic modules of the photovoltaic unit can be positioned at the best possible angle to the solar radiation, thus ensuring the best possible energy generation.

[0011] Preferably, the support element can be designed as a fastening part which is connected to the floor surface and / or the floor in a force-fitting and / or form-fitting manner.

[0012] Data processing devices according to the invention can comprise at least one of the following components: a transmitting device, a receiving device, a CPU, a memory, in particular a RAM and / or ROM.

[0013] The individual components mentioned above can be an integral part of the data processing device, but can also be designed as separate components. Preferably, the support element can be arranged at least partially or completely within the ground and / or at least partially or completely below the ground surface. The ground can then be formed, for example, as soil, into which the support elements can be inserted, for example, by the mounting device.

[0014] An area is defined as an area designated as the location for the installation of the photovoltaic support system. This could be a field, for example. The area can be essentially flat and at ground level. It is also conceivable that the area is mountain- or hill-shaped.

[0015] Automated means that the photovoltaic support system can be installed, preferably without personnel, or alternatively, with only a very small number of workers, preferably one to three on-site. Automated also means that the installation device independently positions the support elements based on data, particularly the installation start coordinate and / or the location coordinates. If necessary, a user and / or the worker can also remotely control the installation device.

[0016] The assembly start coordinate can be the location coordinate used to position the first support element to be installed. The assembly device can begin the automated assembly and assembly of the photovoltaic support system there. A predefined pattern of location coordinates is followed, with each support element to be installed being assigned a fixed location coordinate. Thus, with the aid of the known location coordinates, the assembly device can advantageously assemble the photovoltaic support system on site independently and preferably without personnel expenditure, thereby ultimately reducing the assembly costs for the photovoltaic support system. Provision can be made for a worker to supervise the assembly in case the assembly device develops a defect or if assembly of a support element fails.

[0017] It can also be provided that the location coordinates and / or the assembly start coordinates are transmitted to the worker, who then manually transmits these data to the assembly device or enters them manually or sends them to the assembly device from a mobile device, in particular a tablet.

[0018] In particular, the support elements can be arranged at a distance from one another and can each be connected in a force-fitting and / or form-fitting manner to the floor surface of the floor and / or to the floor.

[0019] According to a preferred embodiment of the method for the automated arrangement of the photovoltaic support system, the determination and / or measurement of the area on which the support elements are to be arranged can be carried out manually by a user or automatically by a K1 unit using a first data processing unit, in particular comprising a computer, and preferably graphically visualized on a screen. This allows the precise determination of which area, in particular which section of the area, has the best conditions for generating energy for the installation of the photovoltaic support system. For this purpose, map data that has been previously recorded and / or digitized can be used.

[0020] According to a preferred embodiment of the method for the automated arrangement of the photovoltaic support system, it can be provided that the determination and / or measurement of the area takes place by means of a satellite and / or an aircraft, in particular a drone, wherein the satellite and / or the aircraft each comprise a second data processing unit and data, in particular GPS data, are acquired and / or generated by this unit, with which the location coordinates and / or the assembly start coordinate are determined. This can advantageously ensure that the previously selected area selected for the arrangement of the photovoltaic support system is precisely determined and / or measured. A data set can thus be generated for the area, which can include the essential location coordinates as well as the assembly start coordinate.For example, a Kl unit can evaluate this data and select the best possible sections of the area or location coordinates. In doing so, the soil conditions, the subsoil, the location to environmental protection areas and critical infrastructure can be taken into account. The results can be visualized to a user, preferably on a mobile device, who can then confirm the use of the area if necessary. According to a preferred embodiment of the method for the automated positioning of the photovoltaic support system, it can be provided that the location coordinates and / or the assembly start coordinate are sent from the second data processing unit of the satellite and / or the aircraft to the first data processing unit and / or to a third data processing unit of a cloud and are received by the latter for further processing of the location coordinates and / or the assembly start coordinate.The cloud offers the advantage that the location coordinates and the assembly start coordinates can be accessed at any time and regardless of location.

[0021] According to a preferred embodiment of the method for the automated arrangement of the photovoltaic support system, it can be provided that the mounting device comprises a fourth data processing unit, wherein the location coordinates and / or the assembly start coordinates are sent by the first data processing unit and / or second data processing unit and / or third data processing unit and received by the fourth data processing unit of the mounting device for further use in arranging the photovoltaic support system, in particular the support elements. With the aid of the received location coordinates and / or the assembly start coordinates, the mounting device can independently carry out the automated assembly of the photovoltaic support system. Manual input by a worker on site can therefore preferably be dispensed with, whereby the assembly costs can be further reduced due to the reduced personnel expenditure.Furthermore, using the recorded location coordinates, an assembly sequence of the individual support elements can be determined automatically, in particular by the or a control unit, whereby the assembly device automatically arranges the support elements on the site according to the specified assembly sequence. The control unit can thus determine a selection of the best possible positions for the arrangement of the support elements, whereby the control unit can evaluate and assess data on the condition and position of the ground in the site, which were preferably acquired by the satellite or the aircraft. Alternatively, this evaluation and assessment can also be performed manually by a worker.

[0022] According to a preferred embodiment of the method for the automated arrangement of the photovoltaic support system, it can be provided that the assembly device is designed as an assembly robot, in particular as an automated and robot-controlled tracked vehicle, which, with the aid of the received assembly start coordinate and / or location coordinates, moves automatically and independently to the assembly start coordinate and / or the corresponding location coordinate in order to arrange and / or position and / or insert the first support element to be assembled at the assembly start coordinate or further support elements at the corresponding location coordinates. Advantageously, the operation of the assembly device does not require any personnel on site. The operation and / or monitoring of the assembly device can also be carried out from a remote location by means of remote control by a control unit and / or by a worker.The assembly device, designed as a tracked vehicle, can be designed, for example, as an electric vehicle to reduce CO2 emissions. The battery of the electric vehicle can, for example, supply energy to the fourth data processing device.

[0023] Furthermore, it can be provided that the assembly device comprises a magazine for arranging a specific number of support elements, wherein when the magazine is emptied, the magazine is refilled automatically by a robot or manually by the operator and / or a worker. The magazine can serve to accommodate a preferably predetermined number of support elements. If more support elements are required for the assembly of the photovoltaic support system than the magazine can accommodate, the magazine can be refilled. For this purpose, a storage facility with support elements can be provided, which can be available on the site. The storage facility can be stationary, for example in the form of a building, in particular as a hall, house, or shed. A mobile storage facility can also be provided.Therefore, the assembly device can be assigned an accompanying vehicle designed as a mobile warehouse for arranging support elements. If the magazine is empty, the accompanying vehicle travels to the assembly device and the magazine is then filled manually by the worker(s) and / or automatically by the robot and / or a robot of the accompanying vehicle. Depending on the design of the method, the worker(s) can be omitted for filling the magazine, as the filling can be carried out fully automatically. The operation and / or monitoring of the accompanying vehicle, and the control of the respective robots, can also be carried out from a remote location by means of remote control by a control unit and / or by the worker(s).

[0024] A space-saving arrangement and assembly of the photovoltaic support system can advantageously be ensured if the support elements of the photovoltaic support system are arranged on the site by the mounting device such that the support elements form horizontal rows and vertical rows relative to one another, with the support elements being arranged at a distance from one another. Such an arrangement also ensures faster assembly of the photovoltaic support system because the mounting device preferably does not have to negotiate unnecessary curves. Furthermore, the positions of the respective horizontal rows of the support elements can have substantially the same x-coordinate, and the positions of the respective vertical rows of the support elements can have substantially the same y-coordinate.

[0025] Furthermore, it can be provided that, before or after the assembly of the respective support element, it is provided with a bearing element for supporting at least one of the photovoltaic modules, wherein the respective bearing element has at least a first bearing section for supporting at least the first photovoltaic module and / or a second bearing section for supporting at least the second and / or another photovoltaic module. The assembly of the bearing element can also be carried out automatically by the or another assembly device, in which case the or another robot can also preferably be used.

[0026] According to a preferred embodiment of the method for the automated arrangement of the photovoltaic support system, it can be provided that at least one predetermined reference plane R is determined, preferably using the data, in particular the GPS data, which is defined by at least three location coordinates or by at least two location coordinates and the assembly start coordinate, wherein the absolute value of the respective z-coordinate of the at least three location coordinates or of the at least two location coordinates and the assembly start coordinate is the maximum height of the photovoltaic support system, in particular the maximum height of the support elements or the photovoltaic modules. The reference plane R can serve as a virtual plane for calculating the height profile of the photovoltaic support system and / or the photovoltaic unit.In this case, multiple reference planes R can also be used for the previously determined area, particularly if the height differences in the area result in the photovoltaic modules and / or support elements being arranged at different heights (z-coordinates) relative to one another. Preferably, the starting points and / or end points, which are each located at the outermost ends of the support elements and / or photovoltaic modules, are arranged in the respective reference plane R.

[0027] The reference plane R can thus be regarded as the boundary plane for the photovoltaic support system and / or the photovoltaic unit and / or the photovoltaic modules and / or the support elements.

[0028] Furthermore, it can be provided that the photovoltaic support system comprises at least the first and the second support element, wherein the distance of the bearing element of the first support element to the or a reference plane R is shorter than the distance of the bearing element of the second support element to the reference plane R, wherein the first bearing section and the second bearing section of the bearing element of the first support element are arranged at an angle alpha1 of greater than or equal to 180 degrees to one another and the first bearing section and the second bearing section of the bearing element of the second support element are arranged at an angle alpha2 of less than or equal to 180 degrees to one another. Furthermore, for example, the distance of the bearing element of the first support element to the reference plane R can be shorter than, for example, the distance of the bearing element of the second support element to the reference plane R.This results in an alternating arrangement of the photovoltaic modules, regardless of the nature of the area, which may, for example, be hilly, with the end sections and beginning sections of the respective photovoltaic modules then preferably each having the same z-coordinate.

[0029] Furthermore, the mounting device can arrange and / or introduce and / or position the support element at least partially within the floor or arrange it at a distance from the floor surface.

[0030] According to a preferred embodiment of the method for the automated arrangement of the photovoltaic support system, it can be provided that the respective support element is connected to at least one ground surface support element in a form-fitting and / or force-fitting and / or material-fitting manner before or after the assembly of the support element, wherein the ground surface support element is supported on the ground surface and / or in the ground after the arrangement and / or introduction and / or positioning of the respective support element. This ensures stable mounting of the photovoltaic support system. The ground surface support elements can also be arranged at least partially or completely in the ground.The ground surface support elements can be additionally connected to the ground and / or the ground surface by means of at least one or more ground surface support fastening elements, in particular with ground nails, in order to further improve the stability of the photovoltaic support system.

[0031] Furthermore, all data processing units, namely the first data processing unit, in particular of the computer, the second data processing unit, in particular of the satellite, the third data processing unit, in particular of the cloud, and the fourth data processing unit, in particular of the mounting device, can communicate with each other in any manner and exchange data, in particular the location coordinates and / or the mounting start coordinates, in order to mount the photovoltaic support system on the site in an automated manner by the mounting device. The four data processing units can thus form a communication system, which can preferably be operated in an automated and / or semi-automated manner, in particular with at least one worker and / or user.

[0032] In general, a user can be a worker or a worker can be a user.

[0033] According to a preferred embodiment, the assembly device (6) can arrange and / or insert the support elements (4) using real-time kinematics, wherein the location coordinates and / or the assembly start coordinate of the support elements (4) are precisely determined using satellite navigation, in particular location coordinates and / or the assembly start coordinate using satellite-supported navigation systems such as GPS, GLONASS, Beidou, or Galileo. Real-time kinematics can very reliably ensure that the location coordinates and the assembly start coordinate are recorded. As a result, the support elements can be arranged in such a way that the best possible energy generation from the photovoltaic modules is ensured.

[0034] According to a preferred embodiment of the method, it can be provided that the assembly device is equipped with a LIDAR system in order to automatically prevent collisions with persons and / or support elements. Damage to the support elements by the assembly vehicle can also be prevented. In particular, when a large number of assembly vehicles are used, there is a very high risk of collisions between the assembly vehicles, in particular with one another. According to a further preferred embodiment of the method, it can be provided that the assembly device comprises a ground-penetrating radar and / or a georadar, wherein the subsurface of the area is analyzed using high-frequency electromagnetic waves before the assembly of the support system or before the arrangement and / or introduction of the respective support element.This ensures that objects, such as boulders, can be detected early and subsequently removed to ensure safe and damage-free installation of the support elements. Ground-penetrating radar and / or georadar can also be used to probe the ground, particularly subsurface, for impervious rock formations.

[0035] According to a further preferred embodiment of the method, the assembly device can comprise a metal detector, wherein the metal detector is used to analyze the subsurface of the area for metal objects, particularly with regard to military waste, prior to the assembly of the support system or prior to the arrangement and / or insertion of the respective support element. The use of a metal detector can, for example, serve to probe the subsurface for military waste, thereby significantly improving safety for the worker. Assembly safety is also improved because it can advantageously be ensured that the support elements do not collide with objects during arrangement and / or insertion.Particularly on ground surfaces that have been demonstrably bombed in the past, safety can be significantly improved if the ground, especially the subsoil, is analyzed, especially before the support elements are installed.

[0036] According to a preferred embodiment of the method, the assembly device can simultaneously arrange and / or insert at least two support elements into the ground and / or onto the ground surface at a predetermined distance from one another. This makes the assembly of the support system even faster, so that the assembly time for the support system can be at least halved compared to the known prior art method. This time saving thus leads to reduced assembly costs for the support system.

[0037] According to a preferred embodiment of the method, the assembly device can arrange and / or insert at least two support elements, in particular a first support element and a second support element, into the ground and / or onto the ground surface at a predetermined distance from one another, with a time offset. Due to the time-delayed manipulation, the weight force during pressing can be at least doubled compared to simultaneous arrangement and / or insertion of the support elements. Due to the short time interval between the manipulation of the first support element and the second support element, the support system can still be assembled quickly and easily.

[0038] The carrier system can be installed very effectively, reliably, safely, and quickly if the second carrier element is positioned and / or inserted no later than two seconds after the first carrier element has been positioned and / or inserted. This results in a smooth and rapid assembly of the carrier system, especially the carrier elements.

[0039] The invention and the technical environment are explained in more detail below with reference to the figures. It should be noted that the figures show particularly preferred embodiments of the invention, but the invention is not limited thereto.

[0040] The figures show:

[0041] Figure 1 shows a section of a photovoltaic support system comprising several photovoltaic modules in a side view,

[0042] Figure 2 shows a section of the photovoltaic support system comprising four photovoltaic modules in a perspective view,

[0043] Figure 3 shows a bearing element of the photovoltaic support system in a perspective view, wherein the bearing element is connected to the support element,

[0044] Figure 4 shows the mounting device in a side view, and

[0045] Figure 5 shows the communication system comprising a satellite, a cloud, a computer and a mounting device as well as the area with the photovoltaic carrier system.

[0046] Figure 1 shows a section of a photovoltaic support system 1 with a photovoltaic unit 2 on an area 19 having a ground surface 5 and a ground 20. The photovoltaic unit 2 has a plurality of photovoltaic modules 3. The photovoltaic support system 1 comprises a plurality of support elements 4, preferably designed as rods, which are arranged at a distance from one another and are arranged and / or connected to the ground surface 5 and / or in the ground 20 in a force-fitting and / or form-fitting manner.

[0047] Figure 2 shows a section of the photovoltaic support system 1 in more detail, with the structural design of the photovoltaic support system 1 being illustrated in more detail in this Figure 2. The photovoltaic support system 1 comprises four photovoltaic modules 3a-3d. The nine support elements 4 each have a ground surface support element 6, preferably designed as a plate, which is preferably supported on the ground surface 5 (see Figure 1).In Figure 2, the photovoltaic support system 1 comprises nine ground surface support elements 6, of which five ground surface support elements 6a-6e can be seen in Figure 2, wherein the respective support element 4 is non-positively and / or positively and / or materially connected to at least one ground surface support element 6, wherein the respective ground surface support element 6 is non-positively and / or positively connected to the ground surface 5 provided for the arrangement of the photovoltaic support system 1, in particular resting on the ground surface 5 and / or being able to be supported. The ground surface 5 is not shown in detail in Figure 2, wherein the ground surface support elements 6 either rest on the ground surface 5 or are at least partially enclosed by it. The ground surface support elements 6 can also be arranged at least partially or completely in the ground 20.Preferably, each support element 4 is assigned exactly one single ground surface support element 6. Furthermore, the photovoltaic support system 1 in Figure 2 comprises nine support elements 4, of which seven support elements 4a-4f, 4h can be seen. Each of the nine support elements 4 is assigned a bearing element 7 for supporting the photovoltaic modules 3a-3d. In the present exemplary embodiment, for example, the distance of the bearing element 7d of the support element 4d to the ground surface 5 is longer than the distance of the bearing element 7c or 7e of the support element 4c or 4e to the ground surface 5 (not shown in detail in Figure 2). This arrangement can also be designed analogously to the other support elements 4 and bearing elements 7 of the photovoltaic support system 1, so that, for example, a wave-shaped (alternating) arrangement of the photovoltaic modules 3 is achieved, as can be seen in the side view of the photovoltaic support system 1 in Figure 1.Furthermore, additionally or alternatively, for example, the distance of the bearing element 7d of the first carrier element 4d to the reference plane R can be shorter than, for example, the distance of the bearing element 7, 7c of the second carrier element 4, 4c to the reference plane R.

[0048] Figure 3 shows a bearing element 7 in which adapter elements 8a-8d can be arranged.

[0049] Figure 3 also shows a bearing element 7, which can be arranged, for example, in the photovoltaic support system 1, as shown in Figures 1 and 2. The bearing element 7 has a first bearing section 9, for example, for supporting the first photovoltaic module 3a and the second photovoltaic module 3b, and further has a second bearing section 10 for supporting the third photovoltaic module and fourth photovoltaic module, which are not shown in detail in Figure 3. The respective photovoltaic module, in particular here the photovoltaic modules 3a, 3b, are each formed with a frame element 11a, 11b, which each comprises a frame section 12a, 12b. Here, the first bearing section 9 and the second bearing section 10 preferably each comprise two stop elements 13a, 13b and 13c, 13d, respectively, and four fastening sections 14a, 14b and 14c, 14d, respectively.The respective stop element 13a, 13b, 13c, 13d can, for example, be designed as a retaining lug that protrudes from the respective bearing section 9, 10 of the bearing element 7. Furthermore, each fastening section 14a, 14b or 14c, 14d can comprise at least one fastening element. Furthermore, connecting sections 18a, 18b and the fastening sections 14a, 14b, 14c, 14d are provided on the bearing element 7.

[0050] The first bearing section 9 shown in Figure 3 and the second bearing section 10 of the bearing element 7 of the present support element 4 are arranged at an angle alpha2 of less than or equal to 180 degrees to each other. This corresponds, for example, to the bearing elements 7a, 7b, 7c, 7e, 7f, 7g shown in Figure 2. The first bearing section 9 and the second bearing section 10 of the bearing elements 7d, 7h, 7i (Figure 2) are arranged at an angle alpha1 of greater than or equal to 180 degrees to each other.

[0051] Furthermore, the bearing element 7 has a base section 15, which adjoins the first bearing section 9 and the second bearing section 10, wherein the base section 15 has a base fastening section 16, preferably designed as a circular or round-shaped hole, which is designed for the arrangement of the support element 4. On the first bearing section 9 and the second bearing section 10, a clamp fastening section 17a, 17b is provided for the arrangement of a clamping element (not shown in detail), which, for example, connects at least the first photovoltaic module 3a and the second photovoltaic module 3b to one another in a force-fitting and / or form-fitting manner.

[0052] Figure 4 shows a movable assembly device 21, wherein the assembly device 21 can preferably be designed as an assembly robot, in particular as an automated and robot-controlled tracked vehicle, wherein the assembly device 21 is designed to receive the support elements 4, wherein the support elements 4 can be arranged and / or introduced and / or connected to the assembly device 21 at least partially in the ground 20 and / or on the ground surface 5. The assembly device 21 comprises a magazine 22 designed as a storage device for support elements 4 for arranging a specific number of support elements 4, wherein when the magazine 22 is emptied, the magazine 22 can be refilled automatically by a robot (not shown in detail) or manually by a worker. Furthermore, the assembly device 21 can have an assembly magazine 24 that can preferably be pivoted and / or moved about an axis 23.The assembly magazine 24 can accommodate a predetermined number of support elements 4, wherein the assembly magazine 24 preferably has an automated device for arranging, in particular for shooting and / or inserting the support elements 4 into the ground 20 and / or the ground surface 5. Furthermore, the assembly device 21 can be designed as an electric vehicle and can therefore comprise a drive battery 25, wherein the drive battery 25 can also supply other components of the assembly device 21 with energy. Furthermore, the assembly device 21 has a fourth data processing device 26, which can be designed, for example, for processing data and for transmitting and receiving data.

[0053] The assembly device 21 can be assigned an accompanying vehicle, which is designed as a storage facility for arranging support elements 4. If the magazine 22 is empty, the accompanying vehicle can drive to the assembly device 21 and the magazine 22 is preferably subsequently refilled manually by the worker or workers and / or automatically by the robot and / or a robot of the accompanying vehicle. The support elements 4 of the photovoltaic support system 1 can be arranged by the assembly device 21 on the area 19 in such a way that the support elements 4 form horizontal rows and vertical rows relative to one another, wherein the support elements 4 are arranged at a distance from one another. The assembly device 21 can arrange the support element 4 at least partially within the ground 20 and / or on the ground surface 5.

[0054] Figure 5 shows the various technical components of a communications system designed to carry out the method according to the invention. Consequently, Figure 5 visualizes the photovoltaic support system 1, the mounting device 21 comprising the fourth data processing device 26, a cloud 30 comprising a third data processing device 27, a satellite 31 comprising a second data processing device 28, and a computer comprising a first data processing device 29. The four data processing devices 26-29 can exchange, send, and transmit data with each other in any desired manner. The method according to the invention for the automated arrangement of a photovoltaic support system 1 on the area 19 comprising the ground surface 5 and the ground 20 is explained in more detail below.The method according to the invention comprises the following steps, wherein the area 19 on which the support elements 4 are to be arranged is determined and measured. Furthermore, at least three location coordinates are recorded for determining and / or measuring the area 19 for arranging the photovoltaic support system 1, wherein the respective location coordinate comprises a width x, in particular an x-coordinate, a length y, in particular a y-coordinate and preferably a height z, in particular a z-coordinate. Furthermore, further location coordinates of the area 19 for arranging and positioning the respective support element 4 are recorded and an assembly start location coordinate is determined on the basis of the recorded location coordinates, wherein the assembly start location coordinate defines the position of the first support element 4 of the photovoltaic support system 1 to be mounted.Likewise, the location coordinates and / or the assembly start coordinate are transmitted to the assembly device 21, and the first support element 4 to be assembled is arranged and / or inserted into the ground 20 and / or onto the ground surface 5 with the assembly device 21 at the position of the assembly start coordinate. The area 19 on which the support elements 4 are to be arranged can preferably be determined manually by a user using the first data processing unit 29 or, alternatively, automatically by a K1 unit, and can preferably be graphically visualized on a screen.The determination and / or surveying of the area 19 can be carried out by means of the satellite 31 and / or alternatively with an aircraft, in particular with a drone, wherein the satellite 31 and / or the aircraft can each comprise the second data processing unit 28, and GPS data can be acquired and / or generated by the latter, with which the location coordinates and / or the assembly start coordinate can be determined. The location coordinates and / or the assembly start coordinate can be sent from the second data processing unit 28 of the satellite 31 and / or the aircraft to the first data processing unit 29 and / or to the third data processing unit 27 of the cloud 30 and received by the latter for further processing of the location coordinates and / or the assembly start coordinate.The mounting device 21 comprises the fourth data processing unit 26, wherein the location coordinates and / or the mounting start coordinates can be sent by the first data processing unit 29 and / or second data processing unit 28 and / or third data processing unit 27 and can be received by the fourth data processing unit 26 of the mounting device 21 for further use in arranging the photovoltaic support system 1, in particular the support elements 4. With the aid of the recorded location coordinates, an assembly sequence of the individual support elements 4 can thus be automated, in particular determined by the or a Kl unit, wherein the mounting device 21 automatically arranges the support elements 4 on the area 19 according to the determined assembly sequence.The assembly device 21, preferably designed as an assembly robot, can be designed, in particular, as an automated and robot-controlled tracked vehicle, which, with the aid of the received assembly start coordinate and / or location coordinates, moves automatically and independently to the assembly start coordinate and / or the corresponding location coordinate in order to arrange and / or position and / or insert the first support element 4 to be assembled at the assembly start coordinate or further support elements 4 at the corresponding location coordinates. Before or after the assembly of the respective support element 4, it can be provided with the corresponding bearing element 7 for supporting at least one of the photovoltaic modules 3.Preferably, at least one predetermined, in particular virtual, reference plane R can be determined using the GPS data, which is defined by at least three spatial coordinates, wherein the magnitude of the respective z-coordinate of the at least three spatial coordinates is the maximum height of the photovoltaic support system 1, in particular the maximum height of the support elements 4 or photovoltaic modules 3. Furthermore, for example, the distance of the bearing element 7d of the first support element 4d from the reference plane R can be shorter than, for example, the distance of the bearing element 7, 7c of the second support element 4, 4c from the reference plane R (see Figure 2).This results in an alternating arrangement of the photovoltaic modules 3, regardless of the nature of the area 19, which may, for example, also be hilly, wherein, for example, the initial sections 32a, 32b and end sections 33c, 33d of the respective photovoltaic modules 3 then preferably have the same z-coordinate, as shown, for example, in Figure 1 or Figure 2. Furthermore, the respective support element 4 can be connected to at least one ground surface support element 6 in a form-fitting and / or force-fitting and / or material-fitting manner before the respective support element 4 is installed, wherein the ground surface support element 6 can be supported on the ground surface 5 and / or in the ground 20 after the respective support element 4 has been arranged and positioned.

[0055] It can also be provided that the assembly device 6 arranges and / or inserts the support elements 4 using real-time kinematics, wherein the location coordinates and / or the assembly start coordinate of the support elements 4 can be precisely determined using satellite navigation, in particular location coordinates and / or the assembly start coordinate using satellite-based navigation systems such as GPS, GLONASS, Beidou, or Galileo. Likewise, the assembly device 21 can be equipped with a LIDAR system to automatically prevent collisions with people and / or support elements 4, 4a, 4b, 4c, 4d, 4e, 4f, 4h. Furthermore, the mounting device 21 can comprise a ground radar 11 and / or a georadar, wherein a subsurface of the area 19 is analyzed with high-frequency electromagnetic waves before the mounting of the carrier system 2 or before the arrangement and / or introduction of the respective carrier element 4, 4a, 4b, 4c, 4d, 4e, 4f, 4h.Furthermore, the mounting device 21 can comprise a metal detector, wherein the metal detector is used to analyze the subsurface of the area 19 for metal objects, in particular with regard to military waste, prior to the assembly of the support system 2 or prior to the arrangement and / or introduction of the respective support element 4, 4a, 4b, 4c, 4d, 4e, 4f, 4h. Particularly preferably, the mounting device 21 can simultaneously arrange and / or introduce at least two support elements 4, 4a, 4b, 4c, 4d, 4e, 4f, 4h into the ground 20 and / or onto the ground surface 5 at a predetermined distance from one another.

[0056] It is also conceivable for the mounting device 21 to arrange and / or introduce at least two support elements 4, 4a, 4b, 4c, 4d, 4e, 4f, 4h, in particular the first support element 4, 4a, 4b, 4c, 4d, 4e, 4f, 4h and the second support element 4, 4a, 4b, 4c, 4d, 4e, 4f, 4h, with a predetermined distance from one another and offset in time in the ground 20 and / or on the ground surface 5. The arrangement and / or introduction of the second carrier element 4, 4a, 4b, 4c, 4d, 4e, 4f, 4h can take place no later than two seconds after the arrangement and / or introduction of the first carrier element 4, 4a, 4b, 4c, 4d, 4e, 4f, 4h.

[0057] List of reference symbols

[0058] 1 photovoltaic carrier system

[0059] 2 photovoltaic units

[0060] 3, 3a, 3b, 3c, 3d photovoltaic module

[0061] 4, 4a, 4b, 4c, 4d, 4e, 4f, 4h support element

[0062] 5 Soil surface

[0063] 6, 6a, 6b, 6c, 6d, 6e floor surface support element

[0064] 7, 7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h, 7i bearing element

[0065] 8a, 8b, 8c, 8d, adapter element

[0066] 9 first camp section

[0067] 10 second camp section

[0068] 11a, 11b frame element

[0069] 12a, 12b frame section

[0070] 13a, 13b, 13c, 13d, stop element

[0071] 14a, 14b, 14c, 14d fastening section

[0072] 15 Base section

[0073] 16 Base mounting section

[0074] 17a, 17b Clamp fastening section

[0075] 18a, 18b connecting section

[0076] 19 Area

[0077] 20 floor

[0078] 21 Mounting device

[0079] 22 Magazine

[0080] 23 Axis

[0081] 24 Magazine

[0082] 25 traction battery

[0083] 26 fourth data processing unit

[0084] 27 third data processing unit

[0085] 28 second data processing unit

[0086] 29 first data processing unit

[0087] 30 Cloud

[0088] 31 satellites

[0089] 32a, 32b initial sections

[0090] 33c, 33d end sections

Claims

Patent claims 1. A method for the automated arrangement of a photovoltaic support system (1) on an area (19) having a ground surface (5) and a ground (20), wherein the photovoltaic support system (1) comprises at least two support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) for arranging a photovoltaic unit (2) having at least two photovoltaic modules (3, 3a, 3b, 3c, 3d), wherein a movable mounting device (21) is provided for receiving the support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h), wherein the support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) are arranged with the mounting device (21) at least partially in the ground (20) and / or on the ground surface (5), wherein the method comprises the following steps: Determining and / or measuring the area (19) on which the support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) are arranged, detecting at least three location coordinates, in particular for determining and / or measuring the area (19) for arranging the photovoltaic support system (1), wherein the respective location coordinate comprises a width x, in particular an x-coordinate, a length y, in particular a y-coordinate and preferably a height z, in particular a z-coordinate, detecting further location coordinates of the area (19) for arranging the respective support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h), Determining an assembly start location coordinate on the basis of the detected location coordinates, wherein the assembly start location coordinate determines the position of the first support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) of the photovoltaic support system (1) to be mounted, Transmitting the location coordinates and / or the assembly start coordinate to an assembly device (21) and / or to a worker, - Arranging and / or introducing the first support element (4, 4a, 4b, 4c, 4d, 4e, 4f) to be mounted into the ground (20) and / or on the ground surface (5) with the mounting device (21) at the position of the mounting start coordinate.

2. Method for the automated arrangement of the photovoltaic support system (1) according to claim 1, characterized in that the determination and / or measurement of the area (19) on which the support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) are arranged is carried out manually by a user or automatically by a first data processing unit (29), in particular comprising a computer a Kl ​​unit and preferably visualized graphically on a screen.

3. Method for the automated arrangement of the photovoltaic support system (1) according to claim 1 or 2, characterized in that the determination and / or measurement of the area (19) is carried out by means of a satellite (31) and / or a flying device, in particular with a drone, wherein the satellite (31) and / or the flying device each comprise a second data processing unit (28) and data, in particular GPS data, are recorded and / or generated by this, with which the location coordinates and / or the assembly start coordinate are determined.

4. Method for the automated arrangement of the photovoltaic support system (1) according to claim 3, characterized in that the location coordinates and / or the assembly start coordinate are sent from the second data processing unit (28) of the satellite (31) and / or the aircraft to the first data processing unit (29) and / or to a third data processing unit (27) of a cloud (30) and are received by the latter for the further processing of the location coordinates and / or the assembly start coordinate.

5. Method for the automated arrangement of the photovoltaic support system (1) according to at least one of claims 2 to 4, characterized in that the mounting device (21) comprises a fourth data processing unit (26), wherein the location coordinates and / or the assembly start coordinate are sent by the first data processing unit (29) and / or second data processing unit (28) and / or third data processing unit (27) and are received by the fourth data processing unit (26) of the mounting device (21) for further use for the arrangement of the photovoltaic support system (1), in particular the support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h).

6. Method for the automated arrangement of the photovoltaic support system (1) according to at least one of claims 1 to 5, characterized in that with the aid of the recorded location coordinates, an assembly sequence of the individual support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) is automated, in particular determined by the or a Kl unit, wherein the assembly device (21) automatically arranges the support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) on the area (19) according to the determined assembly sequence.

7. Method for the automated arrangement of the photovoltaic support system (1) according to at least one of claims 1 to 6, characterized in that the assembly device (21) is designed as an assembly robot, in particular as an automated and robot-controlled tracked vehicle, which, with the aid of the received assembly start coordinate and / or the location coordinates, moves automatically and independently to the assembly start coordinate and / or the corresponding location coordinate in order to arrange the first support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) to be assembled at the assembly start coordinate or further support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) at the corresponding location coordinates.

8. Method for the automated arrangement of the photovoltaic support system (1) according to at least one of claims 1 to 7, characterized in that the assembly device (21) comprises a magazine (22) for the arrangement of a certain number of support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h), wherein when the magazine (22) is emptied, the magazine (22) is automatically loaded by a robot or manually by one and / or the worker.

9. Method for the automated arrangement of the photovoltaic support system (1) according to claim 8, characterized in that the assembly device (21) is assigned an accompanying vehicle which is designed as a warehouse for the arrangement of support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h), wherein when the magazine (22) is empty, the accompanying vehicle travels to the assembly device (21) and the magazine (22) is then filled manually by the worker or a worker and / or automatically by the robot and / or a robot of the accompanying vehicle.

10. Method for the automated arrangement of the photovoltaic support system (1) according to at least one of claims 1 to 9, characterized in that the support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) of the photovoltaic support system (1) are arranged by the mounting device (21) on the area (19) in such a way that the support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) form horizontal rows and vertical rows relative to one another, wherein the support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) are arranged at a distance from one another.

11. Method for the automated arrangement of the photovoltaic support system (1) according to at least one of claims 1 to 10, characterized in that before or after the assembly of the respective support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h), this is provided with a bearing element (7, 7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h, 7i) for storage at least one of the photovoltaic modules (3, 3a, 3b, 3c, 3d) is provided, wherein the respective bearing element (7, 7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h, 7i) has at least a first bearing section (9) for supporting at least the first photovoltaic module (3, 3a, 3b, 3c, 3d) and / or a second bearing section (10) for supporting at least the second and / or a further photovoltaic module (3, 3a, 3b, 3c, 3d).

12. Method for the automated arrangement of the photovoltaic support system (1) according to at least one of claims 1 to 11, characterized in that at least one predetermined reference plane R is determined, preferably by means of data, in particular the GPS data, which is defined by at least three location coordinates or by at least two location coordinates and the assembly start coordinate, wherein the absolute value of the respective z-coordinate of the at least three location coordinates or of the at least two location coordinates and the assembly start coordinate is the maximum height of the photovoltaic support system (1), in particular the maximum height of the support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) or of the photovoltaic modules (3, 3a, 3b, 3c, 3d).

13. Method for the automated arrangement of the photovoltaic support system (1) according to at least one of claims 1 to 12, characterized in that the photovoltaic support system (1) comprises at least the first and the second support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h), wherein the distance of the bearing element (7, 7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h, 7i) of the first support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) to the or a reference plane R is shorter than the distance of the bearing element (7, 7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h, 7i) of the second support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) to the reference plane R (5), wherein the first bearing section (9) and the second bearing section (10) of the bearing element (7, 7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h, 7i) of the first carrier element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) are arranged at an angle alphal of greater than or equal to 180 degrees to one another and the first bearing section (9) and the second bearing section (10) of the bearing element (7, 7a, 7b, 7c,7d, 7e, 7f, 7g, 7h, 7i) of the second support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) are arranged at an angle alpha2 of less than or equal to 180 degrees to each other., 14. Method for the automated arrangement of the photovoltaic support system (1) according to at least one of claims 1 to 13, characterized in that the mounting device (21) arranges the support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) at least partially within the ground (20) or arranges it at a distance from the ground surface (5).

15. Method for the automated arrangement of the photovoltaic support system (1) according to at least one of claims 1 to 14, characterized in that the respective support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) is connected to at least one ground surface support element (6, 6a, 6b, 6c, 6d, 6e) in a form-fitting and / or force-fitting and / or material-fitting manner before or after the assembly of the support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h), wherein the ground surface support element (6, 6a, 6b, 6c, 6d, 6e) is arranged on the ground surface (5) after the arrangement of the respective support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h). and / or in the ground (20).

16. Method according to at least one of claims 1 to 15, characterized in that the assembly device (6) arranges and / or inserts the carrier elements (4) by means of real-time kinematics, wherein the location coordinates and / or the assembly start coordinate of the carrier elements (4) are precisely determined by means of satellite navigation, in particular location coordinates and / or the assembly start coordinate with the aid of satellite-supported navigation systems such as GPS, GLONASS, Beidou or Galileo.

17. Method according to at least one of claims 1 to 16, characterized in that the mounting device (21) is equipped with a LIDAR system in order to automatically prevent collisions with persons and / or support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h).

18. Method according to at least one of claims 1 to 17, characterized in that the mounting device (21) comprises a ground radar (11) and / or a georadar, wherein a subsurface of the area (19) is analyzed with high-frequency electromagnetic waves before the mounting of the carrier system (2) or before the arrangement and / or introduction of the respective carrier element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h).

19. Method according to at least one of claims 1 to 18, characterized in that the assembly device (21) comprises a metal detector, wherein the metal detector is used to analyze the subsoil of the area (19) for metal objects, in particular with regard to military contaminated sites, before the assembly of the carrier system (2) or before the arrangement and / or introduction of the respective carrier element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h).

20. Method according to at least one of claims 1 to 19, characterized in that the mounting device (21) arranges and / or introduces at least two support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) at a predetermined distance from one another simultaneously in the ground (20) and / or on the ground surface (5).

21. Method according to at least one of claims 1 to 20, characterized in that the mounting device (21) has at least two support elements (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h), in particular a first support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) and a second support element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) arranged and / or introduced with a predetermined distance from one another in the ground (20) and / or on the ground surface (5).

22. Method according to claim 21, characterized in that the arrangement and / or introduction of the second carrier element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h) takes place at the latest two seconds after the arrangement and / or introduction of the first carrier element (4, 4a, 4b, 4c, 4d, 4e, 4f, 4h).

Images