Photovoltaic Robot Positioning With 3D Point Cloud Bracket Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Photovoltaic panel installation deviations and potential damage due to improper positioning of photovoltaic robots during installation, which can lead to inefficiencies and increased maintenance costs.
Innovation Solution
A positioning method and system for photovoltaic robots that utilize three-dimensional point cloud data to determine the relative position between the robot and the photovoltaic bracket, employing edge detection and dimensionality reduction to accurately identify target straight lines, enabling precise positioning and detection of abnormal poses.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If photovoltaic robot is used for automatic installation, then installation efficiency is improved, but positioning accuracy deteriorates leading to installation deviations
Solution Approach 1:
The patent replaces traditional mechanical positioning methods with a vision-based positioning system using sensing devices to capture three-dimensional point cloud data. This substitution enables automated detection of bracket features and calculation of robot pose, improving both efficiency and positioning accuracy by eliminating manual intervention while maintaining precision through computational geometry methods.
Solution Approach 2:
The patent creates a digital copy of the physical bracket by capturing its three-dimensional point cloud data through sensing devices. This digital replica allows for precise identification of target structures and calculation of robot positioning without physically touching or disturbing the actual bracket, thereby maintaining installation accuracy while enabling automated operation.
2Manufacturing precision
If traditional positioning methods are used, then device complexity is reduced, but positioning accuracy deteriorates causing panel damage
Solution Approach 1:
The patent implements a multi-functional positioning system where the sensing device performs multiple tasks: capturing three-dimensional point cloud data, identifying target bracket structures, calculating robot pose, and detecting abnormal poses. This universal system replaces multiple separate devices (visual sensors, depth sensors, positioning algorithms) with an integrated solution that improves positioning accuracy while managing complexity through unified processing.
Solution Approach 2:
The patent introduces three-dimensional point cloud data as an intermediary between the physical bracket and the robot positioning system. This digital representation serves as a mediator that translates physical bracket features into computable geometric information, enabling accurate positioning without direct mechanical interaction and reducing the complexity of physical positioning mechanisms.
3Measurement precision
If three-dimensional point cloud data processing is performed, then positioning accuracy is improved, but data processing time increases
Solution Approach 1:
The patent extracts only the essential features from the complete three-dimensional point cloud data by identifying target bracket structures and their geometric characteristics. Instead of processing the entire point cloud, the system extracts relevant geometric information (target straight lines, bracket features) needed for positioning, thereby maintaining high positioning accuracy while significantly reducing data processing time through selective feature extraction.
Solution Approach 2:
The patent transforms three-dimensional point cloud data into two-dimensional projection data for certain processing steps, such as when determining target straight lines from point cloud features. This dimensionality reduction simplifies the computational complexity of processing large three-dimensional datasets while preserving the essential geometric information needed for accurate robot positioning, thus reducing processing time without sacrificing precision.
Data Source
AI summary
A positioning method, apparatus and system for a photovoltaic robot is disclosed. The method comprises: obtaining three-dimensional point cloud data of the photovoltaic bracket, wherein the three-dimensional point cloud data is obtained through a sensing device; determining a target straight line based on the three-dimensional point cloud data, wherein the target straight line comprises a straight line where a target structure of the photovoltaic bracket is located, and the target straight line is located in the plane where the photovoltaic bracket is located; determining the position information based on a first rotation matrix between a first coordinate system of the sensing device and a second coordinate system of the photovoltaic robot, as well as the target straight line; wherein the position information indicates a relative position relationship between the photovoltaic robot and the target structure. Thus, the photovoltaic robot is positioned and its abnormal pose could be detected in time.