SOLAR PANEL MANAGEMENT SYSTEM.
Patent Information
- Authority / Receiving Office
- MX · MX
- Patent Type
- Patents
- Current Assignee / Owner
- THE AES CORPORATION
- Filing Date
- 2023-02-24
- Publication Date
- 2026-05-19
Smart Images
Figure MX434129B0
Abstract
Description
SOLAR PANEL MANAGEMENT SYSTEM FIELD OF INVENTION This disclosure generally refers to a solar panel handling system, and more specifically, to a system for installing solar panels on mounting structures. BACKGROUND OF THE INVENTION In the following analysis, reference is made to certain structures and / or methods. However, the following references should not be interpreted as an admission that these structures and / or methods constitute prior art. The applicant expressly reserves the right to demonstrate that such structures and / or methods do not qualify as prior art against the present invention. Installing a photovoltaic array typically involves attaching solar panels to an installation structure. This underlying support provides attachment points for the individual solar panels, as well as facilitating the routing of electrical systems and, where applicable, any mechanical components. Due to the fragile nature and large dimensions of solar panels, the process of attaching them to an installation structure presents unique challenges. For example, in many cases, the solar panels in a photovoltaic array are mounted on a rotating structure that can rotate the panels around an axis to allow the array to track the sun. In such cases, it is difficult to ensure that all the solar panels in an array are coplanar and level with respect to the axis of the rotating structure.Additionally, installation costs for photovoltaic arrays can represent a significant portion of the total construction cost. Therefore, there is a need for a more efficient and reliable solar panel management system for installing solar panels in photovoltaic arrays. BRIEF DESCRIPTION OF THE INVENTION Therefore, the present invention is directed to a solar panel handling system that substantially eliminates one or more of the problems due to limitations and disadvantages of the related art. The solar panel handling system disclosed here facilitates the installation of solar panels from a photovoltaic array onto a pre-existing mounting structure, such as a pylon. Solar panel installation can be performed more efficiently and reliably by combining tooling for handling the solar panel with components that allow the solar panel to be attached to the solar panel support structure. Additional features and advantages of the invention will be set forth in the following description, and some will be apparent from the description, or can be learned. Lnbznn / eznz / e / Yi through the practice of the invention. The objectives as well as other advantages of the invention will be implemented and achieved through the structure particularly indicated in the written description and the claims thereof as well as the accompanying drawings. To achieve these and other advantages and in accordance with the purpose of the present invention, as incorporated and described in detail, a system for installing a solar panel may comprise an end-of-arm assembly tool comprising a frame and suction cups coupled to the frame, and a linear guide assembly coupled to the end-of-arm assembly tool, wherein the linear guide assembly includes: a linearly movable clamping tool including a coupling element configured to couple a clamp assembly slidably coupled to an installation structure, a force and torque transducer configured to move the clamping tool along the installation structure, and a junction box coupled to the frame and including a controller configured to control the force and torque transducer and the suction cups, and a power supply. In another aspect, a method of installing a solar panel may comprise coupling an end-of-arm assembly tool to a solar panel, the end-of-arm assembly tool comprising a frame and suction cups coupled to the frame, positioning the solar panel relative to an installation structure having a clamp assembly slidably coupled thereto, coupling a linear guide assembly coupled to the end-of-arm assembly tool to the clamp assembly, the linear guide assembly comprising a linearly movable clamping tool including a coupling element configured to couple the clamp assembly and a force and torque transducer configured to move the clamping tool along the installation structure, and actuating the force and torque transducer to move the clamp assembly along the installation structure to couple with one side of the solar panel.thus securing the solar panel in relation to the installation structure. The foregoing general description and the following detailed description shall be understood to be exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE FIGURES The accompanying drawings, which are incorporated herein and form part of the specification, illustrate the present invention and, together with the description, further serve to explain the principles of the invention and enable a person skilled in the relevant art to make and use the invention. The exemplary embodiments will be better understood from the following detailed description when read in conjunction with the accompanying drawings. It is emphasized that, in accordance with common practice, the various features of the drawings are not Lnbznn / eznz / e / Yi scale. Conversely, the dimensions of the various features are arbitrarily expanded or reduced for clarity. The following figures are included in the drawings: FIGURE 1 shows a perspective view of a solar panel handling system together with a solar panel container, according to a modality of the present disclosure. FIGURES 2A, 2B and 2C show a top, front and side view, respectively, of the solar panel handling system and solar panel container of FIGURE 1. FIGURES 3A - 3C show a top (FIGURE 3A), front (FIGURE 3C) 10 and side (FIGURE 3B) view, respectively, of the solar panel handling system coupled to a single solar panel, according to a modality of the present disclosure. FIGURES 4A and 4B show perspective views of the solar panel handling system, according to one modality of this disclosure. FIGURES 5A and 5B show a top view and front view, respectively, of a solar panel handling system, according to a modality of this disclosure. FIGURE 50 shows a side view with a solar panel handling system clamping tool in a folded position, according to one embodiment of this disclosure. FIGURE 5D shows a side view with a clamping tool in an extended or advanced position, according to one modality of this disclosure. FIGURES 6A and 6B show perspective views of the clamping tool of a solar panel handling system in coupling with a clamp assembly attached to an installation structure, according to a modality of this disclosure. FIGURE 7A shows a top view of the solar panel handling system clamping tool in coupling with a clamp assembly attached to an installation structure, according to one embodiment of this disclosure. FIGURE 7B shows a front view of the 30-system solar panel handling clamping tool in coupling with a clamp assembly attached to an installation structure, according to one modality of this disclosure. FIGURE 7C shows a side view of the solar panel handling system clamping tool in coupling with a clamp assembly attached to an installation structure, according to one embodiment of this disclosure. FIGURE 7D shows a rear view of the clamping tool of the solar panel handling system in coupling with a clamp assembly attached to a Lnbznn / eznz / e / Yi installation structure, according to a modality of the present disclosure. FIGURE 8 illustrates schematically, in an aerial view, the solar panel handling system during the process of installing a solar panel, according to a modality of this disclosure. FIGURE 9 illustrates the solar panel handling system including the assembly tool coupled with a robot that moves the assembly using a robotic arm. FIGURE 10 illustrates the solar panel handling system that has two robotic arms where two assembly tools are coupled with a robot that moves the assembly using respective robotic arms. Figures 11A, 11B, and 11C illustrate a process for installing solar panels. Figures 12A and 12B illustrate an arrangement for a moving robot system including two module vehicles and a ground vehicle having two robotic arms. FIGURE 13 schematically illustrates the installation achieved using computer vision recording. FIGURE 14 schematically illustrates an arrangement where module vehicles are exchanged for new module vehicles that have additional solar panels for refueling. Figures 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, and 34 provide detailed illustrations of an exemplary system configuration for installing solar panels in accordance with a modality of this disclosure. The features and advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the drawings, in which similar reference characters identify corresponding elements in the document. In the drawings, similar reference numbers generally indicate identical, functionally similar, and / or structurally similar elements. DETAILED DESCRIPTION OF THE INVENTION Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Figure 1 shows a perspective view of a solar panel handling system 30 together with a solar panel box, according to an embodiment of this disclosure. The solar panel handling system may include an end-of-arm assembly tool 100 which can be attached to individual solar panels 120 of a solar panel box and can move them into position relative to an installation structure for mounting. The end-of-arm assembly tool 100 may include a frame 102 and one or more joining devices 104 attached to the frame 102. Exemplary joining devices Lnbznn / eznz / e / Yi 104 includes suction cups or other structures that can be detachably attached to the surface of the solar panel 120 and, at least in aggregate, can maintain the attachment during handling of the solar panel 120 through the arm-end assembly tool 100. The frame 102 can consist of several beams 102-A to provide strength and structural stability to the frame 102. The frame 102 also serves as a base for the arm-end assembly tool 100 and other related components of the solar panel handling system disclosed herein. Other related components of the solar panel handling system disclosed herein may be attached to frame 102 to fix a relative position of the components in the arm-end assembly tool 100. One or more of the various components of the solar panel handling system may be attached to one or more of the beams 102-A to fix a relative position of the components in the arm-end assembly tool 100. The 104 bonding devices are configured to reliably bond to a flat surface, such as a solar panel surface, using a vacuum. In one suction cup configuration, the suction cups are actuated by pushing the cup against the flat surface, thereby removing air from the cup and creating a vacuum seal. As a result, the flat surface adheres to the suction cup with an adhesive force that depends on the size of the suction cup and the integrity of the seal. In some configurations, an air inlet (not shown) supplies air over the flat surface when it is sealed to the suction cup to release the vacuum and free the flat surface from the suction cup. The system may also include a linear guide assembly 106 coupled to the end-of-arm assembly tool 100. The linear guide assembly 106 includes a linearly movable clamping tool 108 with a coupling element 108-A configured to couple a gripper assembly attached to an installation structure. The linear guide assembly 106 can be driven to move the clamping tool 108 along an axis between, for example, an extended position and a retracted position. The axis of movement of the clamping tool 108 can be parallel to an axis of the installation structure. Therefore, the linear guide assembly 106 can move the clamping tool 108 and the coupling element 108-A along the installation structure. In some embodiments, the coupling element 108-A may include electromagnets that can be actuated to clamp a gripper assembly 602 (see Figures 6A, 6B). Alternatively, or additionally, the coupling element 108A may include a jaw to prevent decoupling between the gripper assembly 602 and the clamp assembly 602. Lnbznn / eznz / e / Yi and coupling element 108-A when the linear guide assembly 106 is actuated to move the clamping tool relative to the installation structure as described in more detail elsewhere in this document. The linear guide assembly 106 is driven using a force and torque transducer 5 110. In some embodiments, the linear guide assembly 106 and the force and torque transducer 110 can form a rack and pinion structure such that rotation of the force and torque transducer 110 results in an advance or retraction of the clamping tool 108. In some embodiments, the linear guide assembly 106 can be a hydraulic assembly including a folding shaft coupled to the clamping tool 108. In these embodiments, the force and torque transducer 110 can be configured as a pump for pumping hydraulic fluid. In other embodiments, the force and torque transducer 110 can be configured as, or coupled to, a linear drive motor that engages a folding shaft surface coupled to the clamping tool 108. In some embodiments, the linear guide assembly 106 may include an electric rod actuator 15 to move the clamping tool 108 parallel to an axis of the installation structure. In some embodiments, the guide assembly 106 may include a roller 606 to facilitate the movement of the clamping tool 108 along the mounting structure 604. The roller, for example, may include a bearing or other components designed to reduce friction as the clamping tool 108 moves relative to the mounting structure. The roller may be coupled with a sensor, such as a force sensor or rotation sensor, to provide feedback to a controller. In some embodiments, the guide assembly may include a spring mechanism 608 that permits small amounts of tilt (up to 15 degrees of tilt) of the clamping tool 108 relative to the installation structure 604. Such tilting can occur when the orientation assembly 804 tilts the arm-end assembly tool 100 relative to the installation structure 604 to properly level the solar panel. The system may also include a junction box 112 attached to the frame 102. The junction box 112 may include a controller configured to control the force and torque transducer 110 and the joining devices 104. In some embodiments, the junction box 112 may also include a power supply or a power controller to control the power supply to various components. In some configurations, the 112 controller may include an operationally 35 processor coupled to a memory. The 112 controller can receive inputs from sensors associated with the solar panel management system (for example, an optical sensor or a sensor of (Lnbznn / eznz / e / Yi proximity 108-B described elsewhere here). The controller 112 can then process the received signals and issue a control command to control one or more components (e.g., the linear guide assembly 106, the clamping tool 108, or the joining devices 104). For example, in some modes, the controller 112 can receive a signal from a proximity sensor determining that the clamping assembly is approaching a trailing edge of a solar panel being installed and can therefore reduce the speed of the linear guide assembly 106 to reduce excessive forces and impacts on the solar panel. Referring to Figure 8, in some embodiments, the 10-solar-panel handling system may also include an optical sensor 802, such as a camera, photodetector, or any other optical imaging or light-sensing device. The optical sensor is conveniently located on the frame 102, for example, on an outer or lower surface of an edge element indicated by position 802-A in Figure 8, or in an interior location of the frame 102 that has a field of view including the leading edge of the solar panel, as indicated by position 802-B in Figure 8. The optical sensor can be configured to detect the orientation of the solar panel relative to the mounting structure during operation of the end-of-arm assembly tool. In some embodiments, the optical sensor can be configured in the form of one or more light-guided levels (not shown).In these configurations, one or more light beams (e.g., laser beams) can be projected along or parallel to the axis of the mounting structure 604 from one end of the arm-end assembly tool 100, such as first locations on the frame 102. One or more photodetectors can be positioned at another end of the arm-end assembly tool 100, such as second locations on the frame 102, to detect one or more laser beams. Therefore, if the solar panel 120 being installed is not properly oriented or leveled with respect to the mounting structure 604, the solar panel 102 may obstruct some or all of one or more laser beams, resulting in multiple signals from one or more photodetectors, indicating that the solar panel 120 is not properly oriented or leveled with respect to the mounting structure 604. In some configurations, one or more sensors, such as 802 optical sensors, can be used to detect and recognize objects in order to position and control the installation with improved accuracy. The sensors can be implemented in conjunction with a neural network, for example, an artificial intelligence (AI) system. For instance, a neural network might include the acquisition and correction of images related to the solar panel management system, the solar panels (both installed and those to be installed), and the installation environment (both the natural environment, such as topography, and Lnbznn / eznz / e / Yi the installed equipment, such as structures related to the solar panel array). Also, for example, a neural network can include the acquisition and correction of position or proximity information. The corrected images and / or corrected position or proximity information are fed into the neural network and processed to calculate the movement and positioning of equipment in the solar panel handling system, such as that related to autonomous vehicles, storage vehicles, robotic equipment, and installation equipment. The estimated movement and positioning are published to a control system associated with the individual piece of equipment in the solar panel handling system or to a master controller for the solar panel handling system as a whole. In some modes, the signal from the optical sensor can be fed into the controller. In some embodiments, the solar panel handling system may also include a swivel assembly 804 (see FIGURE 8) configured to tilt the end-of-arm assembly tool 100 relative to the mounting structure 604. In such embodiments, the controller 112 can control the swivel in response to an optical signal indicating that the solar panel being installed is not properly oriented or leveled relative to the mounting structure, such as a torque tube 604. It will be appreciated that although the swivel assembly 804 is shown as being coupled to the force and torque transducer 110, those skilled in the art will readily recognize other means of implementing the swivel assembly 804. In some configurations, the controller 112 can also be configured to control the joining devices 104 to activate or deactivate their joining / separation. For configurations in which the joining devices 104 are suction cups, a vacuum can enable the coupling or release of the solar panels 120 using the arm-end assembly tool 100 (25). In some embodiments, the 604 mounting structure may have an octagonal cross-section, as shown, for example, in FIGURES 6A, 6B, and 7A, 7B, 7C, and 7D, to form a torque tube that prevents inadvertent slippage of the 602 clamp assembly. However, other cross-sectional shapes, such as square, oval, or other shapes, may be used. Additionally, the 604 mounting structure may utilize a circular cross-sectional shape. In some embodiments, the assembly tool 100 can be configured to couple with a robot that moves the assembly 903 (an example of which is shown in FIGURES 9 and 10). The robot that moves the assembly 903 can be configured to position the end-of-arm assembly tool 100 relative to a storage or stacking container 905 of solar panels, move a selected solar panel, and Lnbznn / eznz / e / Yi position the selected solar panel relative to the installation structure 604. In some embodiments, the robot moving the assembly 903 can be operatively coupled to the end-of-arm assembly tool 100 via the force transducer 110 (or, where applicable, the orientation assembly 804). In some embodiments, the robot moving the assembly 5 can also be operatively coupled to the controller, allowing an operator of the robot moving the assembly to control the various functions of the end-of-arm assembly tool 100, such as, for example, activating and / or deactivating the joining devices 104, advancing and / or retracting the clamping tool, and / or activating and / or deactivating the coupling element relative to the gripper assembly. Referring now to FIGURES 1, 6A, 6B, 7A to 7D, 9, and 10, in operation, a solar panel 120 is obtained and placed on the mounting structure 604. The solar panel is then tilted relative to the mounting structure 604 so that a leading edge of the solar panel (i.e., an edge that will be adjacent to an edge of the previously installed solar panel or, for a first solar panel, an edge that will be adjacent to a stop 15 fixed to the mounting structure 604) is oriented closer to the mounting structure 604 than a trailing, opposite edge. The leading edge is then placed in a receiving channel (either a receiving channel positioned along the edge of the previously installed solar panel, i.e., as part of a clamp assembly, or a receiving channel in the stop) and the tilt of the solar panel is reduced to a position installed on the mounting structure.The tilt angle is reduced as the solar panel is deflected into the receiving channel so that, in the installed position, the edge region of the upper flat surface of the solar panel (i.e., the photovoltaically active surface facing the sun) is captured within the receiving channel. An exemplary embodiment of a receiving channel 610 in a clamp assembly 602 is shown in Figures 6A and 6B. Once the solar panel is in position on the mounting structure, the force and torque actuator 110 drives the guide assembly 106 of the arm-end assembly tool 100 to contact the coupling element 108-A of the clamping tool 108 with a gripper assembly 602. This gripper assembly was originally positioned on the mounting structure outside the area to be occupied by the solar panel being installed, but also close enough to be reached by the relevant components of the arm-end assembly tool 100. Surfaces and features of the coupling element 108-A can be located and sized to engage with complementary features on the gripper assembly 602.After this contact, the force and torque actuator 110 is actuated (either it remains actuated or is actuated in a second mode) to axially slide the gripper assembly 602 along a portion of the structure's length. Installation Lnbznn / eznz / e / Yi 604. The axial sliding of the clamp assembly 602 engages a receiving channel of the clamp assembly 602 with the rear edge of the newly installed solar panel. Sensors, such as those on the force and torque actuator 110 or the clamping tool 108, can provide feedback to the controller indicating complete engagement of the receiving channel of the clamp assembly 602 with the rear edge of the solar panel. Once the clamp assembly 602 is positioned, the guide assembly 106 is retracted, and the installation of the next solar panel can proceed. In some embodiments, the linear guide assembly 106 may include a proximity sensor 108-B configured to detect a distance between the coupling element 108 and the rear edge of the solar panel 120 during an installation operation of the solar panel 120. An output from the proximity sensor 108-B may be used to conveniently control the speed of the clamping tool 108 during operation of the linear guide assembly 106 to prevent excessive force and impact on the solar panel 120. In some embodiments, the proximity sensor 108-B may be, for example, an optical sensor or an audio sensor (e.g., sonar) that detects a distance between the front edge of the solar panel 120 and the coupling element 108; in other embodiments, the proximity sensor 108-B may be a contact-retractable limit switch. With further reference to Figures 9 and 10, the robot that moves assembly 903 can be implemented using a ground vehicle 907. For example, the ground vehicle 907 can be implemented as an electric vehicle (EV). The ground vehicle 907 can autonomously move adjacent to the installation structure 604. Although not shown, the ground vehicle 907 can move along a track or rail that is attached to or separate from the installation structure. In some embodiments, the ground vehicle 907 can be controlled using sensors or based on sensor input or feedback. The sensors can be, for example, optical or proximity sensors.In additional modalities, a neural network using artificial intelligence can be used to control the movement of the 907 ground vehicle, such as by analyzing the operating environment and developing instructions for the movement of the ground vehicle. FIGURE 10 illustrates a modality of a solar panel handling system that has two robotic arms in which two assembly tools are coupled with a robot that moves the assembly using respective robotic arms. As shown in FIGURE 9, the storage container 905 holding the solar panels to be installed can be placed on the ground vehicle. Figure 9 illustrates the solar panel handling system, including a robotic arm assembly tool 100 coupled with a robot that moves the assembly using a... Lnbznn / eznz / e / Yi robotic arm. Alternatively, as shown in FIGURE 10, one or more storage containers 905 can be placed on one or more respective vehicles of the module vehicles 1005 adjacent to the ground vehicle 907. As such, FIGURE 10 illustrates the solar panel handling system having two robotic arms in which two assembly tools are coupled with a robot that moves the assembly using respective robotic arms. In the modalities of the disclosure, the robotic arms can be an articulated arm having two or more sections coupled with joints, or alternatively, it can be a beam arm. The illustrations herein are intended to disclose the use of any type of arm in accordance with this disclosure. According to Figure 9, for example, the robotic arm of the arm assembly tool 100, which has an upper section 908 and a lower section 909, can offer increased operational flexibility while maintaining light weight and simple operation. As further illustrated in Figure 9, a second robotic arm 911 can be provided with the arm assembly tool 100, which has a nut tightener at one end for securing the solar panel to the mounting structure 604. Although any type of robotic arm can be used for the second robotic arm 911, Figure 9 illustrates an example using an articulated arm with the nut tightener at one end. Here, the robotic arms 100 and 911 can be operated autonomously using computer vision with a neural network and artificial intelligence control.Alternatively, the 100 and 911 robotic arms can be manually operated or operated by remote control. In some configurations, the ground vehicle 907 can be an autonomous vehicle in which the neural network and artificial intelligence control movement and operation, and the module vehicles 1005 are towed or coupled to the ground vehicle 907. In other configurations, the module vehicles 1005 can be autonomous vehicles in which the neural network and artificial intelligence control movement and operation, and the ground vehicle 907 is towed or coupled to the module vehicles 1005. Also, in some configurations, the robot that moves the assembly 903 is mounted on one of the ground vehicle 907 and the module vehicles 1005. In other configurations, the robot that moves the assembly 903 can be mounted on a dedicated robot vehicle. A process for installing solar panels is shown in Figures 11A to 11C. As shown in Figure 11A, a pallet of solar panels may be delivered by truck. In some embodiments, the pallet may constitute the storage container 905 for the solar panels. The pallet may include machine-readable markings, such as a barcode, a QR code, or other manufacturing reference, which can be read to provide information regarding the solar panels and instructions. Lnbznn / eznz / e / Yi installation or other information to be used in the installation process, particularly information to be used by the neural network and artificial intelligence control. Such information may include, for example, the number of solar panels, the type of solar panels, physical characteristics of the solar panel such as size, installation-related characteristics such as hardware type and location, installation instructions, or other characteristics of the solar panels, storage of the solar panels on the pallet, and other installation-related information. Furthermore, by using machine-readable signaling, the system can control the feeding or replenishment of panel boxes in the correct order and / or ensure that panels with similar impedance from the factory are used. As shown in FIGURE 11B, mechanized equipment such as a forklift can be used to move and place the pallet onto the ground vehicle. Here, the forklift can be manually operated, remotely operated, or autonomous. In FIGURE 11B, the pallet is placed on the ground vehicle. Alternatively, the pallet can be placed on a module vehicle. Next, as shown in FIGURE 11C, the robot arm is used to install the solar panels. In the illustrated example, two arms are used to handle the respective solar panels that are to be installed on the respective mounting structures. Here, the ground vehicle moves between the two mounting structures. Additionally, a module vehicle is provided, which can be separate from the ground vehicle. As any expert in the field would recognize, modifications and variations in implementation are possible. For example, as shown in Figures 12A and 12B, two module vehicles can be provided for the respective robot arms. Alternatively, the module vehicles can be connected to the ground vehicle instead of being separate. Thus, as shown in Figure 12A, the robot arms can be fitted with respective solar panels, which are installed as illustrated in Figure 12B. In some configurations, as illustrated in Figure 13, the installation can be achieved using computer vision recording. For example, as mentioned earlier, optical or similar sensors can be used with a neural network for artificial intelligence. In some configurations, as illustrated in FIGURE 14, if module vehicles are used with the ground vehicle, the module vehicles can be swapped for new module vehicles once all the solar panels on the module vehicle have been installed. Here, computer vision can be used to communicate with and control an independent autonomous vehicle, such as a forklift, to carry additional boxes of solar panels. Therefore, the supply of solar panels can Lnbznn / eznz / e / Yi be replenished. In the replenishment operation, using a forklift as an example, the forklift (whether autonomous, remotely controlled, or manually operated) can be used to return empty boxes or containers of solar panels to a disposal area, remove straps, open lids, or cut sides of the boxes being delivered, pick up boxes to correct the rotation / orientation of the solar panels, or perform other tasks. Additionally, the forklift can be kept near the ground vehicle to wait for the system to unload the next box of solar panels. Therefore, the forklift can manually or autonomously dispose of an empty box, place the next box onto the ground vehicle or module vehicle, open a box (including removing straps, opening lids, or trimming sides), and back away from the ground vehicle / module vehicle.As described, refueling can be autonomous, remotely controlled, or manually operated, for example. FIGURES 15 to 34 provide detailed illustrations of an exemplary configuration of a system for installing solar panels in accordance with a modality of this disclosure. Embodiments of the present invention have been described with the aid of functional building blocks that illustrate the implementation of specified functions and their relationships. The boundaries of these similar building blocks have been arbitrarily defined here for the convenience of description. Alternative boundaries may be defined provided that the specified functions and their relationships are properly implemented. It will be apparent to those skilled in the art that various modifications and variations can be made to the system for installing a solar panel of the present invention 25 without departing from the spirit or scope of the invention. Therefore, the present invention is intended to cover modifications and variations of this invention, provided they are within the scope of the appended claims and their equivalents. It is also understood that the phraseology or terminology herein is for the purpose of description and not limitation, so that the terminology or phraseology of this specification is to be interpreted 30 by a person skilled in the art by virtue of the teachings and guidance provided. The scope and extent of the present invention should not be limited by any of the exemplary forms described above, but should be defined solely in accordance with the following claims and their equivalents.
Claims
1. A system for installing a solar panel, characterized in that it comprises: an arm-end assembly tool comprising a frame and a plurality of joining devices coupled to the frame; and 5 a linear guide assembly coupled to the arm-end assembly tool, wherein the linear guide assembly includes: a linearly movable clamping tool including a coupling element configured to couple a clamp assembly slidably coupled to an installation structure, and 10 a force and torque transducer configured to move the clamping tool along the installation structure, and a controller configured to control the force and torque transducer and the plurality of joining devices.
2. The system according to claim 1, characterized in that it further comprises an optical sensor configured to detect an orientation of the solar panel with respect to the installation structure.
3. The system according to claim 1 or 2, characterized in that the installation structure comprises a parking tube having an octagonal cross-section and the clamp assembly is configured to slide along one side of the parking tube. 20 4. The system in accordance with any of the preceding claims, characterized in that it further comprises an orientation assembly configured to tilt the end-of-arm assembly tool relative to the installation structure.
5. The system in accordance with any of the preceding claims, characterized in that the controller is configured to control the 25 orientation assembly to allow leveling of the solar panel relative to the installation structure based on an input from the optical sensor.
6. The system in accordance with any of the preceding claims, characterized in that the controller is configured to actuate the force and torque transducer to allow the coupling element, during operation, to couple or uncouple the gripper assembly.
7. The system according to any of the preceding claims, characterized in that the controller is further configured to activate or deactivate the plurality of coupling devices for the purpose of attaching or detaching the solar panel to the frame during operation. 35 8. The system in accordance with any of the preceding claims, characterized in that it further comprises a robot that moves the assembly coupled to the Lnbznn / eznz / e / Yi 15 end-of-arm assembly tool and configured to position the end-of-arm assembly tool relative to the installation structure.
9. The system according to claim 8, characterized in that the robot moving the assembly is further configured to position the end-of-arm assembly tool relative to a stack of solar panels that allows, during operation, the end-of-arm assembly tool to obtain a solar panel from among the stack of solar panels.
10. The system according to claims 8 or 9, characterized in that the robot that moves the assembly is operatively coupled to the force and torque transducer.
11. The system in accordance with any of the preceding claims, characterized in that the linear guide assembly further comprises a proximity sensor configured to detect a distance between the side of the solar panel and the coupling element.
12. The system in accordance with any of the preceding claims, characterized in that the linear guide assembly further comprises a roller that allows movement of the coupling element along the installation structure.
13. The system in accordance with any of the preceding claims, characterized in that the assembly robot includes an autonomously driven ground vehicle having the arm assembly tool attached thereto.
14. The system according to claim 13, characterized in that the assembly robot further includes at least one module vehicle configured to store the solar panel prior to installation.
15. The system according to any of claims 1 to 12, characterized in that the assembly robot includes at least one module vehicle configured to store the solar panel prior to installation, and wherein at least one module vehicle is autonomously driven.
16. The system according to claim 15, characterized in that the assembly robot includes a ground vehicle having the arm assembly tool attached thereto.
17. The system in accordance with any of the preceding claims, characterized in that it further comprises a control system, wherein the control system receives operating instructions from a neural network.
18. A system for installing a solar panel, characterized in that it comprises: an end of an arm assembly tool comprising a frame and a plurality of joining devices coupled to the frame; and a linear guide assembly coupled to the arm end assembly tool, Lnbznn / eznz / e / Yi wherein the linear guide assembly includes: a linearly movable clamping tool including a coupling element configured to couple a clamp assembly slidably coupled to an installation structure, and a force and torque transducer configured to move the clamping tool along the installation structure, a controller configured to control the force and torque transducer and the plurality of joining devices; an optical sensor configured to detect an orientation of the solar panel relative to the installation structure;and an orientation assembly configured to tilt the end-of-arm assembly tool relative to the installation structure, wherein the installation structure comprises a torque tube having an octagonal cross-section and the clamp assembly is configured to slide along one side of the torque tube, and wherein the controller is configured to: control the orientation assembly to allow leveling of the solar panel relative to the installation structure based on an input from the optical sensor, actuate the force and torque transducer to allow the coupling element, during operation, to couple or uncouple the clamp assembly, and activate or deactivate the plurality of attachment devices to couple or release the solar panel to the frame during operation.
19. The system according to claim 18, characterized in that the linear guide assembly further comprises: 25 a proximity sensor configured to detect a distance between the side of the solar panel and the coupling element, and a roller that allows movement of the coupling element along the installation structure.
20. The system according to claim 18 or 19, characterized in that 30 further comprises a robot moving the assembly coupled to the end-of-arm assembly tool and configured to position the end-of-arm assembly tool relative to the installation structure, wherein the robot moving the assembly is further configured to position the end-of-arm assembly tool relative to a stack of solar panels 35 enabling, during operation, the end-of-arm assembly tool to obtain a solar panel from among the stack of solar panels, and Lnbznn / eznz / e / Yi wherein the robot moving the assembly is operatively coupled to the force and torque transducer.
21. The system according to claim 20, characterized in that the assembly robot includes an autonomously driven ground vehicle having the arm assembly tool attached thereto.
22. The system according to claim 21, characterized in that the assembly robot further includes at least one module vehicle configured to store the solar panel prior to installation.
23. The system according to claim 20, characterized in that the assembly robot includes at least one module vehicle configured to store the solar panel prior to installation, and wherein at least one module vehicle is autonomously driven.
24. The system according to claim 23, characterized in that the assembly robot includes a ground vehicle having the arm assembly tool attached 15 thereto.
25. The system according to claim 20, characterized in that it further comprises a control system, wherein the control system receives operating instructions from a neural network.
26. A method for installing a solar panel, characterized in that it comprises: 20 coupling an end of an arm assembly tool to the solar panel, the arm assembly tool comprising a frame and a plurality of connecting devices coupled to the frame; positioning the solar panel relative to an installation structure having a clamp assembly slidably coupled thereto; 25 coupling a linear guide assembly coupled to the arm assembly tool to the clamp assembly, the linear guide assembly comprising a linearly movable clamping tool including a coupling element configured to couple the clamp assembly and a force and torque transducer configured to move the clamping tool along the installation structure;and 30 actuate the force and torque transducer to move the clamp assembly along the installation structure to engage with one side of the solar panel, thereby securing the solar panel relative to the installation structure.; 27. The method according to claim 26, further comprising leveling the solar panel with respect to the installation structure. 35 28. The method according to any of claims 26 and 27, characterized in that the installation structure comprises a torque tube having an octagonal cross-section, and wherein the solar panel placement comprises placing the solar panel relative to one side of the torque tube.
29. The method according to any of claims 26 to 28, characterized in that the coupling of the arm-end assembly tool comprises positioning the frame relative to the solar panel and detachably coupling the solar panel to the frame using the plurality of joining devices.
30. The method according to any of claims 26 to 29, characterized in that the coupling of the linear guide assembly comprises detecting a position of the gripper assembly along the installation structure and actuating the force and torque transducer to position the linear guide assembly for the purpose of enabling coupling between the coupling element and the gripper assembly.
31. The method according to any of claims 26 to 30, characterized in that the arm assembly tool is attached to a self-propelled land vehicle, and further comprises a step consisting of propelling the self-propelled land vehicle relative to the installation structure.
32. The method according to any of claims 26 to 30, characterized in that the arm assembly tool is attached to an unpowered ground vehicle, and further comprises a step consisting of moving the unpowered ground vehicle relative to the installation structure with a self-propelled ground vehicle.
33. The method according to any of claims 31 and 32, characterized in that the assembly robot includes an autonomously driven ground vehicle having the arm assembly tool attached thereto.
34. The method according to any of claims 26 to 33, characterized in that it further comprises operating an arm assembly tool control system based on operating instructions received by the control system from a neural network.