CN117263026B - Positioning system, positioning method, photovoltaic array semi-finished product mounting equipment and method - Google Patents
Positioning system, positioning method, photovoltaic array semi-finished product mounting equipment and method Download PDFInfo
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- 239000011265 semifinished product Substances 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000001514 detection method Methods 0.000 claims abstract description 187
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application discloses a positioning system, a positioning method, photovoltaic array semi-finished product installation equipment and a method, and relates to variable measurement or detection technology. The positioning system applied to the photovoltaic array semi-finished product mounting equipment is provided with a target object detection device, a distance detection device and a driving assembly. In the case that the installation equipment moves to be within a first preset range of a target installation position of the photovoltaic array semi-finished product, a target object detection signal and a distance signal of a target object are detected through the target object detection device and the distance detection device, and the installation equipment is driven by the driving component based on the target object detection signal and the distance signal so that the installation equipment moves to be within a second preset range of the target installation position. According to the embodiment of the application, the mounting equipment can be accurately positioned relative to the target mounting position, so that the mounting operation requirement in the mounting process of the photovoltaic array semi-finished product is met.
Description
Technical Field
The application belongs to the technical field of positioning, relates to variable measurement or detection technology, and particularly relates to a positioning system, a positioning method, photovoltaic array semi-finished product installation equipment and a method based on distance measurement and position detection.
Background
In the installation process of the photovoltaic solar panel, it is necessary to perform the installation work to the execution work point (i.e., the target installation position). However, the positioning system in the related art generally adopts a global positioning system (Global Positioning System, GPS), which has poor positioning accuracy, and cannot realize accurate positioning to the implementation operation point, so that the requirement of installation operation cannot be met.
Disclosure of Invention
The embodiment of the application provides a positioning system, a positioning method, and a photovoltaic array semi-finished product mounting device and method, which can improve positioning accuracy.
In a first aspect, an embodiment of the present application provides a positioning system, which is applied to a photovoltaic array semi-finished product mounting apparatus, where the mounting apparatus is configured to mount a photovoltaic array semi-finished product on a photovoltaic support, where the photovoltaic support includes a plurality of mounting columns, and a target object is disposed between two first preset mounting columns or on a second preset mounting column in the plurality of mounting columns, or the second preset mounting column is itself a target object;
the positioning system comprises: a target object detection device, a distance detection device and a driving component;
the target object detection device is used for detecting whether a target object exists in the current area range or not under the condition that the installation equipment moves to a first preset range of a target installation position, and obtaining a target object detection signal;
the distance detection device is used for detecting the distance between the installation equipment and the target object to obtain a distance signal;
the driving component is used for driving the installation device to move towards the target installation position based on the target object detection signal and the distance signal so that the target object detection signal and the distance signal meet preset conditions, wherein the preset conditions are used for indicating that the installation device is located in a second preset range of the target installation position, the second preset range is smaller than or equal to the first preset range, and the preset conditions are that the target object detection signal indicates that the target object is not detected and the distance signal indicates that the distance information is detected.
In a second aspect, embodiments of the present application provide a positioning method applied to the positioning system described in any one of the embodiments of the first aspect, where the positioning method includes:
the navigation installation equipment moves to a first preset range of a target installation position of the photovoltaic array semi-finished product;
under the condition that the installation equipment moves to a first preset range of a target installation position, driving the installation equipment to move to the target installation position based on a target object detection signal and a distance signal through a driving component so that the target object detection signal and the distance signal meet preset conditions, wherein the preset conditions are used for indicating that the installation equipment is located in a second preset range of the target installation position, the second preset range is smaller than or equal to the first preset range, and the preset conditions are that the target object detection signal indicates that a target object is not detected and the distance signal indicates that distance information is detected.
In a third aspect, embodiments of the present application provide a photovoltaic array semi-finished product mounting apparatus comprising a host vehicle, a spreader, a hanger trolley, and a positioning system as described in any one of the embodiments of the first aspect;
the main vehicle comprises a vertical supporting assembly, a transverse supporting assembly and a travelling mechanism assembly, wherein the transverse supporting assembly is borne on one side of the vertical supporting assembly along the vertical direction, and the travelling mechanism assembly is arranged on the other side of the vertical supporting assembly along the vertical direction;
the hanger trolley is connected to the main trolley in a sliding manner and is used for connecting the hanger.
In a fourth aspect, embodiments of the present application provide a method for mounting a photovoltaic array semi-finished product, which is applied to the photovoltaic array semi-finished product mounting apparatus described in any embodiment of the third aspect;
the method comprises the following steps:
hoisting the photovoltaic array semi-finished product on installation equipment through a hoisting tool;
moving the mounting device to within a second preset range of a target mounting position of a photovoltaic array semi-finished product by the positioning method described in any one of the embodiments of the second aspect;
under the condition that the mounting equipment moves to a second preset range of a target mounting position of the photovoltaic array semi-finished product, aligning the photovoltaic array semi-finished product with the target mounting position through a hanger trolley;
and placing the semi-finished photovoltaic array product to a photovoltaic bracket at the target installation position through the lifting appliance, and fixing the semi-finished photovoltaic array product to realize the installation operation.
The positioning system, the positioning method, the photovoltaic array semi-finished product mounting device and the method are applied to the positioning system of the photovoltaic array semi-finished product mounting device, and the target object detection device, the distance detection device and the driving component are arranged in the positioning system of the photovoltaic array semi-finished product mounting device, so that when the mounting device moves to be within a first preset range of a target mounting position of the photovoltaic array semi-finished product, a target object detection signal and a distance signal of a target object are detected through the target object detection device and the distance detection device, and the driving component drives the mounting device to move to the target mounting position based on the target object detection signal and the distance signal, so that the mounting device is positioned in a second preset range of the target mounting position; because the second preset range is smaller than or equal to the first preset range, the positioning system can realize more accurate positioning of the mounting equipment relative to the target mounting position, namely, the positioning precision can be improved, and thus, the mounting operation requirement in the mounting process of the photovoltaic array semi-finished product can be met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.
FIG. 1 is a schematic diagram of an exemplary positioning system provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a positioning method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a photovoltaic array semi-finished product mounting apparatus according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a photovoltaic array semi-finished product installation method according to an embodiment of the present application.
Detailed Description
Features and exemplary embodiments of various aspects of the present application are described in detail below to make the objects, technical solutions and advantages of the present application more apparent, and to further describe the present application in conjunction with the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the application and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It should be noted that, in the embodiment of the present application, the data acquisition, storage, use, processing, etc. all conform to relevant regulations of national laws and regulations.
In the installation process of the photovoltaic solar panel, it is necessary to perform the installation work to the execution work point (i.e., the target installation position). However, the positioning system in the related art generally adopts a global positioning system (Global Positioning System, GPS), which has poor positioning accuracy, and cannot realize accurate positioning to the implementation operation point, so that the requirement of installation operation cannot be met.
In order to solve the problems of the related art, the embodiment of the application provides a positioning system, a positioning method, and a photovoltaic array semi-finished product mounting device and method.
The positioning system provided by the embodiment of the application is described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.
It should be noted that the positioning system in the embodiment of the present application is applied to a photovoltaic array semi-finished product mounting apparatus, which is used for mounting a photovoltaic array semi-finished product on a photovoltaic bracket.
It should be noted that the positioning system in the embodiments of the present application relates to distance measurement and position detection techniques.
The photovoltaic array semi-finished product in the embodiment of the application comprises a plurality of photovoltaic plates, and the photovoltaic plates are arranged along the length direction and/or the width direction of the photovoltaic plates and assembled by a plurality of purlines and oblique beams. Specifically, the photovoltaic array semi-finished product comprises a plurality of purlins, a plurality of oblique beams and a plurality of photovoltaic plates, wherein the purlins are mutually spaced and arranged in parallel, the oblique beams are mutually spaced and arranged in parallel, the purlins and the oblique beams are intersected and overlapped to form a frame, and the photovoltaic plates are arranged in an array manner and are arranged on one side, far away from the oblique beams, of the purlins to form the photovoltaic array semi-finished product.
The assembly of the semi-finished photovoltaic array can be carried out in a factory, and compared with the assembly of an outdoor photovoltaic panel installation site, the assembly process can be carried out by means of professional equipment, so that the installation accuracy and the installation efficiency are improved.
In addition, the semi-finished product of the photovoltaic array can also be in other forms which facilitate subsequent installation procedures, for example, one or more photovoltaic panels and other forms of supporting pieces are combined to be used as the semi-finished product, or one or more photovoltaic panels are used as the semi-finished product per se to carry out subsequent installation.
Referring to fig. 1, a schematic diagram of an exemplary positioning system according to an embodiment of the present application is shown. An exemplary mounting post unit of the photovoltaic bracket is also shown in fig. 1, and, taking the example that the mounting post unit includes 8 mounting posts 104, two mounting posts 104 at the extreme edge in the x-direction of the 8 mounting posts 104 of the mounting post unit are taken as two selected mounting posts 104 for placing a target object 105 for reference by the positioning system. That is, the target object 105 is disposed between the two first preset mounting posts of each mounting post unit, and the width of the target object 105 is equal to the distance between the two first preset mounting posts.
Alternatively, in another exemplary mounting column unit, the target object 105 is provided on a second preset mounting column of the plurality of mounting columns 104 of the mounting column unit, or the second preset mounting column itself is the target object 105. It will be appreciated that when the second preset mounting posts themselves are the target object 105, the number of second preset mounting posts is at least two, and the at least two second preset mounting posts may be adjacent posts in the same row of mounting post units or may not be adjacent.
In addition, as shown in fig. 1, the positioning system includes: a target object detection means 102, a distance detection means 103 and a drive assembly (not shown in fig. 1). Wherein the target object detection means 102 and the distance detection means 103 are both mounted on the side of the mounting apparatus body structure. As an alternative embodiment, the target object detection means 102 and the distance detection means 103 are both mounted on the sides of the mounting device body structure near the target object 105 when the mounting device is remote from the photovoltaic stand.
It should be understood that, since the photovoltaic array semi-finished product mounting apparatus and the positioning system thereof in the embodiments of the present application can implement a continuous mounting operation, in order to ensure that the target object detection device 102 and the distance detection device 103 in the positioning system can implement their respective functions based on the reference target object 105 during the continuous mounting operation, the positions of the first preset mounting post or the second preset mounting post in the mounting post unit are the same and fixed for each mounting post unit in the photovoltaic bracket, for example, the first preset mounting post of each mounting post unit is the two mounting posts 104 of its extreme edge in the x direction.
More specifically, the target object detection device 102 is configured to detect whether the target object 105 exists in the current area range when the installation apparatus moves to be within a first preset range of the target installation position, so as to obtain a target object detection signal; distance detecting means 103 for detecting a distance between the mounting device and the target object 105 to obtain a distance signal; and a driving component for driving the mounting device to move towards the target mounting position based on the target object detection signal and the distance signal so that the target object detection signal and the distance signal meet preset conditions, wherein the preset conditions are that the target object detection signal indicates that the target object is not detected and the distance signal indicates that the distance information is detected, the preset conditions are used for indicating that the mounting device is located in a second preset range of the target mounting position, the second preset range is smaller than or equal to the first preset range, for example, the first preset range can be in a range of 50mm, and the second preset range can be in a range of 10 mm.
Thus, the positioning system applied to the photovoltaic array semi-finished product mounting device of the embodiment of the application is provided with the target object detection device 102, the distance detection device 103 and the driving component, so that when the mounting device moves to be within a first preset range of a target mounting position of the photovoltaic array semi-finished product, a target object detection signal and a distance signal of the target object 105 are detected by the target object detection device 102 and the distance detection device 103, and the mounting device is driven to move to the target mounting position by the driving component based on the target object detection signal and the distance signal, so that the mounting device is positioned within a second preset range of the target mounting position; because the second preset range is smaller than or equal to the first preset range, the positioning system can realize more accurate positioning of the mounting equipment relative to the target mounting position, namely, the positioning precision can be improved, and thus, the mounting operation requirement in the mounting process of the photovoltaic array semi-finished product can be met.
In some embodiments, the positioning system further comprises a navigation system 101 mounted on the body structure of the mounting device. Specifically, the navigation system 101 may include a satellite navigation positioning system for moving the navigation installation device to a first preset range of the target installation position of the photovoltaic array semi-finished product.
In some embodiments, the navigation system 101 is a plurality, and the plurality of navigation systems 101 are mounted on at least one diagonal of the mounting device body structure. In this way, navigation of the mounted device and thus the preliminary positioning is achieved by at least two navigation systems 101. It will be appreciated that the mounting of at least two navigation systems 101 on a diagonal may enable both sides of the mounting device to be controlled for navigation, thereby ensuring that the mounting device is able to move steadily during the course of achieving a preliminary positioning of the mounting device within a first predetermined range of target mounting locations. Meanwhile, the navigation system 101 is not required to be arranged at each end angle of the main body structure of the installation equipment, so that the deployment cost and the structural complexity of the positioning system of the installation equipment can be reduced.
In some embodiments, the target object detection device 102 and the distance detection device 103 are mounted on a side of the mounting apparatus main body structure near the target object 105, and the centers of the target object detection device 102, the distance detection device 103 and the target object 105 are located at the same height, so that the mounting positions of the target object detection device 102, the distance detection device 103 on the mounting apparatus main body structure are adapted to the positions of the target object 105, thereby enabling the target object 105 to be scanned or detected, and realizing the determination of the target object 105 as a reference object for positioning. Also, the height is not so low as to prevent the target object detection device 102 or the distance detection device 103 from failing to scan the target object 105 and from acquiring a signal, which may be caused by sinking of the tire of the wheel, deformation of the tire of the wheel, or uneven ground of the mounted apparatus. For example, the tire of the wheel is submerged 100mm at maximum, and the height may be set to 150mm.
In some embodiments, the surface of the target object 105 is capable of reflecting laser light, and the target object detection device 102 and the distance detection device 103 are both laser sensors.
Specifically, the target object 105 may be a metal plate, or the surface of the target object 105 (second preset mounting post) is provided with a reflective film or special sensor reflective paper. In this way, the surface of the target object 105 can reflect laser light and the reflectivity is high, so that the laser sensor can be made to detect and scan the target object 105 to acquire a signal.
In the case where the target object 105 is a metal plate, the material of the metal may be iron, aluminum, steel, or the like, and this embodiment is not particularly limited.
In addition, it should be appreciated that the surface of the target object 105 needs to be smooth to avoid generating radians or concavity that may result in a larger error in the signal acquired by the target object detection device 102 or the distance detection device 103 when scanning the target object 105.
Further, in some embodiments, for the calling functions of the target object detection apparatus 102 and the distance detection apparatus 103, respectively, the target object detection apparatus 102 may call the switching value interval function of the laser sensor, and the distance detection apparatus 103 may call the analog ranging function of the laser sensor.
In some embodiments, the mounting location of the target object detection device 102 on the mounting apparatus body structure is closer to the axial (i.e., parallel to the x-axis direction in fig. 1) edge of the mounting apparatus than the mounting location of the distance detection device 103.
In this way, based on the relative positional relationship of the installation positions of the target object detection device 102 and the distance detection device 103, and the respective different calling functions, it is possible to realize that different detection information is obtained by detecting the target object 105, that is, signals representing different information are acquired.
In some embodiments, the target object detection apparatus 102 includes at least a first target object detection sensor and a second target object detection sensor distributed along an axial direction of the mounting device; the distance detection means 103 includes at least a first distance detection sensor and a second distance detection sensor distributed along the axial direction of the mounting apparatus.
Since the mounting position of the target object detection device 102 on the mounting apparatus main structure is closer to the axial edge of the mounting apparatus than the mounting position of the distance detection device 103, the first target object detection sensor and the second target object detection sensor are disposed outside the first distance detection sensor and the second distance detection sensor, as shown in fig. 1, the distribution order in the x-axis direction along the axial direction on the mounting apparatus main structure may be: the first target object detection sensor, the first distance detection sensor, the second distance detection sensor, and the second target object detection sensor.
In some embodiments, the distance of the first target object detection sensor from the second target object detection sensor in the axial direction of the mounting apparatus is greater than the width of the target object 105 by a first dimension; the distance between the first distance detection sensor and the second distance detection sensor in the axial direction of the mounting apparatus is smaller than the width of the target object 105 by a second dimension.
Specifically, for the first size and the second size, it may be determined according to a second preset range. In addition, the first size and the second size may be equal. For example, if the second preset range is 10mm, the first size and the second size are both 20mm, that is, the mounting positions of the first target object detection sensor and the second target object detection sensor are each 10mm beyond the target object 105 (i.e., each 10mm beyond the left and right sides of the center corresponding to the target object 105), and the mounting positions of the first distance detection sensor and the second distance detection sensor are each 10mm reduced with respect to the target object 105 (i.e., each 10mm reduced along the left and right sides of the center corresponding to the target object 105). In this way, positioning of the mounting apparatus within a second preset range (e.g., 10 mm) with respect to the target mounting position can be achieved based on the target object detection signals detected by the first target object detection sensor and the second target object detection sensor and the distance signals detected by the first distance detection sensor and the second distance detection sensor.
In addition, it should be understood that in the case where the target object detection signal and the distance signal satisfy the preset condition, it can be achieved that the mounting apparatus is located within the second preset range of the target mounting position. Specifically, the preset conditions for indicating that the mounting apparatus is located within the second preset range of the target mounting position may include: the target object detection signal indicates that no target object 105 is detected by either the first target object detection sensor or the second target object detection sensor, and the distance signal indicates that distance information is detected by both the first distance detection sensor and the second distance detection sensor. In this way, by judging the target object detection signal and the distance signal and the preset condition, it can be determined whether the mounting apparatus is located within the second preset range of the target mounting position.
Further, in some embodiments, the positioning system of the mounting apparatus may further include a programmable logic controller (Programmable Logic Controller, PLC) or encoder that may control the drive assembly based on the target object detection signal and the distance signal such that the drive assembly drives the mounting apparatus to move toward the target mounting location under its control. In addition, because the PLC supports the structured programming language (Structured Control Language, SCL), the problems of high error risk caused by too many nesting and high complexity of control by using the ladder diagram in the related technology can be reduced, and the failure rate is reduced.
Next, the present application also provides a positioning method. And, the positioning method can be applied to the positioning system described in any of the above embodiments.
Fig. 2 shows a flow diagram of a positioning method according to an embodiment of the present application. As shown in fig. 2, the positioning method specifically may include the following steps:
s201, moving the installation equipment to a first preset range of a target installation position of the photovoltaic array semi-finished product through navigation of a navigation system;
s202, under the condition that the installation equipment moves to a first preset range of a target installation position, driving the installation equipment to move to the target installation position through a driving component based on a target object detection signal and a distance signal so as to enable the target object detection signal and the distance signal to meet preset conditions, wherein the preset conditions are used for indicating that the installation equipment is located in a second preset range of the target installation position, the second preset range is smaller than or equal to the first preset range, and the preset conditions are that the target object detection signal indicates that the target object is not detected and the distance signal indicates that the distance information is detected.
Therefore, the navigation installation equipment moves to a first preset range of a target installation position of the photovoltaic array semi-finished product through the navigation system, and preliminary positioning relative to the target installation position is achieved; then, driving the mounting equipment to move to the target mounting position based on the target object detection signal and the distance signal through the driving assembly, so that the mounting equipment can be positioned in a second preset range of the target mounting position, and secondary positioning is realized; because the second preset range is smaller than or equal to the first preset range, the positioning method can realize more accurate positioning of the mounting equipment relative to the target mounting position, namely, the positioning precision can be improved.
Specifically, in some embodiments, in step S201, the installation apparatus may be navigated by a plurality of navigation systems, and the plurality of navigation systems may be installed on at least one diagonal line of the installation apparatus main body structure. Therefore, the navigation installation equipment can be moved to a first preset range of the target installation position of the photovoltaic array semi-finished product through at least two navigation systems, preliminary positioning is achieved, and meanwhile, the deployment cost and complexity in the implementation process of the positioning method can be reduced.
It should be noted that, the preliminary positioning in step S201 can only achieve that the installation apparatus approaches the target installation position, that is, the installation apparatus is initially positioned so that the installation apparatus is located at a position, which may not meet the positioning accuracy requirement of the photovoltaic array semi-finished product for installation with respect to the target installation position, and further secondary positioning of the installation apparatus is required.
Thus, in some embodiments, in step S202, the relative positional relationship of the current position of the mounting apparatus and the target mounting position may be determined based on the target object detection signal and the distance signal; then, determining a target displacement direction according to the relative position relation; thus, the mounting apparatus is driven to move toward the target mounting position in accordance with the target displacement direction.
Wherein the target object detection signal can be obtained by detecting the target object by a first target object detection sensor and a second target object detection sensor distributed along the axial direction of the mounting device; the distance signal may be detected by a first distance detection sensor and a second distance detection sensor distributed along the axial direction of the mounting apparatus.
In some embodiments, the target object detection signal and the distance signal satisfy a preset condition, may include: the target object detection signal indicates that no target object is detected by either the first target object detection sensor or the second target object detection sensor, and the distance signal indicates that distance information is detected by both the first distance detection sensor and the second distance detection sensor.
That is, the target object detection signal indicates that either one of the first target object detection sensor and the second target object detection sensor detects the target object, or the distance signal indicates that either one of the first distance detection sensor and the second distance detection sensor does not detect the distance information, the preset condition is not satisfied.
To facilitate understanding of the step S202, the following description will further explain the specific implementation procedure of the step S202 by referring to fig. 1 (taking, as an example, a first target object detection sensor, a first distance detection sensor, a second distance detection sensor, and a second target object detection sensor that are axially distributed on the mounting apparatus main structure in fig. 1 and are distributed in the order of the x-axis direction).
For example, if the target object detection signal indicates that the first target object detection sensor detects the target object and the second target object detection sensor does not detect the target object, the relative positional relationship between the current position of the mounting apparatus and the target mounting position is such that the target mounting position is located in the positive direction of the x-axis direction of the current position, and the target displacement direction is determined to be the positive direction along the x-axis direction. Thus, the mounting apparatus is driven to move in the positive direction of the x-axis direction until the target object detection signal indicates that neither of the first target object detection sensor nor the second target object detection sensor detects the target object, and the distance signal indicates that both of the first distance detection sensor and the second distance detection sensor detect the distance information.
For another example, if the target object detection signal indicates that the first target object detection sensor does not detect the target object and the second target object detection sensor detects the target object, the mounting apparatus is driven to move in the negative direction of the x-axis direction until the target object detection signal indicates that neither the first target object detection sensor nor the second target object detection sensor detects the target object and the distance signal indicates that both the first distance detection sensor and the second distance detection sensor detect the distance information.
In the case where the target object detection signal indicates that the first target object detection sensor detects the target object and the second target object detection sensor does not detect the target object, the drive mounting apparatus is moved in the positive direction in the x-axis direction, if the target object detection signal indicates that the first target object detection sensor does not detect the target object and the second target object detection sensor detects the target object, the drive mounting apparatus is again driven to move in the negative direction in the x-axis direction, and so on. Therefore, based on the gradual approach of the judgment of the preset conditions, the target object detection signal and the distance signal can meet the preset conditions through 2-3 cyclic actions, so that the installation equipment is located in a second preset range of the target installation position, and the installation equipment is accurately positioned relative to the target installation position.
In addition, the application also provides a photovoltaic array semi-finished product mounting device.
Referring to fig. 3, a schematic structural view of a photovoltaic array semi-finished product mounting apparatus is shown.
As shown in fig. 3, the photovoltaic array semi-finished product mounting apparatus includes a main vehicle 100, a hanger carriage 200, a hanger 300, and a positioning system (not shown in fig. 3) as described in the above corresponding embodiments. In addition, a photovoltaic array blank 400 is also shown in fig. 3.
Specifically, the main vehicle 100 includes a vertical support assembly, a lateral support assembly and a travelling mechanism assembly, wherein the lateral support assembly is carried on one side of the vertical support assembly along the vertical direction, and the travelling mechanism assembly is arranged on the other side of the vertical support assembly along the vertical direction; the hanger trolley 200 is slidably connected to the main trolley 100 (transverse support assembly) for connection to the hanger 300.
In addition, as shown in fig. 3, the first direction and the second direction intersect and all intersect with the vertical direction, the transverse supporting assembly comprises a first unit and a second unit which are distributed side by side along the second direction, the first unit and the vertical supporting assembly enclose into a whole and form a first space, and the second unit extends out of the vertical supporting assembly along the second direction and is suspended above the second space.
The first space can provide an installation operation space for the photovoltaic array semi-finished product 400 hoisted in the lifting appliance, and the second space can provide a hoisting operation space for the photovoltaic array semi-finished product 400 to be hoisted in the lifting appliance.
In addition, the hanger trolley 200 includes two or more hangers arranged in a vertically stacked manner, the hangers of adjacent two layers being movably arranged in different directions; the hanger 300 is connected with the hanger at the lowest layer for hanging the photovoltaic array semi-finished product 400.
Further, the application also provides a photovoltaic array semi-finished product mounting method, which can be understood to be applied to the photovoltaic array semi-finished product mounting equipment in the corresponding embodiment.
Fig. 4 shows a schematic flow chart of a photovoltaic array semi-finished product mounting method according to an embodiment of the present application. As shown in fig. 4, the installation method specifically includes the following steps:
s401, hoisting a photovoltaic array semi-finished product 400 on installation equipment through a lifting appliance 300;
s402, moving the installation equipment to a second preset range of a target installation position of the photovoltaic array semi-finished product 400 through a positioning method;
s403, under the condition that the mounting equipment moves to a second preset range of the target mounting position of the photovoltaic array semi-finished product 400, aligning the photovoltaic array semi-finished product 400 with the target mounting position through the hanger trolley 200;
s404, placing the photovoltaic array semi-finished product 400 to a photovoltaic bracket at a target installation position through the lifting appliance 300, and fixing to realize installation operation.
In some embodiments, prior to step S401, the photovoltaic array blank 400 is assembled. Specifically, the photovoltaic array semi-finished product 400 includes a plurality of photovoltaic panels, and the plurality of photovoltaic panels are arranged along a length direction and/or a width direction of the photovoltaic panels and are assembled by a plurality of purlins and diagonal beams.
In some embodiments, in step S401, the spreader 300 is placed over the second space by the spreader trolley 200, and then the photovoltaic array semi-finished product 400 is hoisted to the mounting apparatus by the spreader 300.
It can be appreciated that, for step S402, the detailed description has been made in the embodiment corresponding to the positioning method, and therefore, the detailed description is omitted here.
Further, in some embodiments, in step S403, in a case where the mounting apparatus moves to within the second preset range of the target mounting position of the photovoltaic array semi-finished product 400, the hanger trolley 200 is moved above the first space to align the photovoltaic array semi-finished product 400 with the target mounting position.
Thus, in step S404, the photovoltaic array semi-finished product 400 is placed to the photovoltaic bracket at the target mounting position by the hanger 300 to be fixed for the mounting operation.
Therefore, the photovoltaic array semi-finished product mounting method can realize automatic mounting of the photovoltaic array semi-finished product 400, improve the mounting efficiency and save the labor cost and the time cost while realizing accurate positioning of the mounting equipment relative to the target mounting position so as to meet the mounting operation requirement in the mounting process of the photovoltaic array semi-finished product 400.
It should be noted that some embodiments of the present application are described above. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
It should be clear that the present application is not limited to the particular arrangements and processes described above and illustrated in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps, after appreciating the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be different from the order in the embodiments, or several steps may be performed simultaneously.
Aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, which are intended to be included in the scope of the present application.
Claims (16)
1. The positioning system is characterized by being applied to photovoltaic array semi-finished product mounting equipment, wherein the mounting equipment is used for mounting a photovoltaic array semi-finished product on a photovoltaic bracket, the photovoltaic bracket comprises a plurality of mounting upright posts, a target object is arranged between two first preset mounting upright posts or on a second preset mounting upright post in the plurality of mounting upright posts, or the second preset mounting upright post is a target object;
the positioning system comprises: a target object detection device, a distance detection device and a driving component;
the target object detection device is used for detecting whether the target object exists in the current area range or not under the condition that the installation equipment moves to a first preset range of a target installation position, and obtaining a target object detection signal;
the distance detection device is used for detecting the distance between the installation equipment and the target object to obtain a distance signal;
the driving component is used for driving the installation device to move towards the target installation position based on the target object detection signal and the distance signal so that the target object detection signal and the distance signal meet preset conditions, wherein the preset conditions are used for indicating that the installation device is located in a second preset range of the target installation position, the second preset range is smaller than or equal to the first preset range, and the preset conditions are that the target object detection signal indicates that the target object is not detected and the distance signal indicates that the distance information is detected.
2. The positioning system of claim 1, wherein the mounting location of the target object detection device is closer to an axial edge of the mounting apparatus than the mounting location of the distance detection device.
3. The positioning system according to claim 2, wherein the target object detection means includes at least a first target object detection sensor and a second target object detection sensor distributed along an axial direction of the mounting apparatus, a distance of the first target object detection sensor from the second target object detection sensor in the axial direction of the mounting apparatus being larger than a width of the target object by a first dimension;
the distance detection device at least comprises a first distance detection sensor and a second distance detection sensor which are distributed along the axial direction of the mounting equipment, wherein the distance between the first distance detection sensor and the second distance detection sensor in the axial direction of the mounting equipment is smaller than the width of the target object by a second size.
4. A positioning system as recited in claim 3, wherein said first dimension and said second dimension are equal.
5. A positioning system as set forth in claim 3 wherein said target object detection signal and said distance signal satisfy preset conditions comprising:
the target object detection signal indicates that none of the first and second target object detection sensors detects the target object, and the distance signal indicates that both of the first and second distance detection sensors detect distance information.
6. The positioning system of any of claims 1-5 wherein a surface of the target object is capable of reflecting laser light, and wherein the target object detection device and the distance detection device are both laser sensors.
7. The positioning system of any of claims 1-5, wherein the positioning system further comprises a navigation system;
the navigation system is arranged on the main structure of the installation equipment and used for navigating the installation equipment to move to a first preset range of a target installation position of the photovoltaic array semi-finished product.
8. The positioning system of claim 7, wherein the navigation system is a plurality of the navigation systems mounted on at least one diagonal of the mounting device body structure.
9. The positioning system of any of claims 1-5, wherein the target object detection device, the distance detection device, and the center of the target object are all located at the same height.
10. The positioning system of any of claims 1-5, wherein the target object detection device and the distance detection device are both mounted on a side of the mounting apparatus body structure.
11. The positioning system of claim 10 wherein the side is a side proximate to the target object.
12. A positioning method applied to the positioning system of any one of claims 1-11, the positioning method comprising:
the navigation installation equipment moves to a first preset range of a target installation position of the photovoltaic array semi-finished product;
under the condition that the installation equipment moves to a first preset range of a target installation position, driving the installation equipment to move to the target installation position based on a target object detection signal and a distance signal through a driving component so that the target object detection signal and the distance signal meet preset conditions, wherein the preset conditions are used for indicating that the installation equipment is located in a second preset range of the target installation position, the second preset range is smaller than or equal to the first preset range, and the preset conditions are that the target object detection signal indicates that a target object is not detected and the distance signal indicates that distance information is detected.
13. The positioning method of claim 12, wherein the driving the mounting device to move toward the target mounting location based on a target object detection signal and a distance signal comprises:
determining a relative positional relationship of a current position of the mounting apparatus and the target mounting position based on the target object detection signal and the distance signal;
determining a target displacement direction according to the relative position relation;
and driving the mounting equipment to move towards the target mounting position according to the target displacement direction.
14. A photovoltaic array semi-finished product mounting device, characterized in that it comprises a main vehicle, a sling, a hanger trolley and a positioning system according to any one of claims 1-11;
the main vehicle comprises a vertical supporting assembly, a transverse supporting assembly and a travelling mechanism assembly, wherein the transverse supporting assembly is borne on one side of the vertical supporting assembly along the vertical direction, and the travelling mechanism assembly is arranged on the other side of the vertical supporting assembly along the vertical direction;
the hanger trolley is connected to the main trolley in a sliding manner and is used for connecting the hanger.
15. The photovoltaic array semifinished installation according to claim 14, wherein,
the hanger trolley comprises more than two hangers which are vertically stacked, and the hangers of two adjacent layers are movably arranged along different directions; the lifting appliance is connected with the lifting bracket at the lowest layer and is used for lifting the photovoltaic array semi-finished product.
16. A photovoltaic array semifinished product mounting method, characterized by being applied to the photovoltaic array semifinished product mounting apparatus according to claim 14 or 15, the method comprising:
hoisting the photovoltaic array semi-finished product on installation equipment through a hoisting tool;
moving the mounting device to within a second preset range of a target mounting position of a photovoltaic array semi-finished product by the positioning method of any one of claims 12-13;
under the condition that the mounting equipment moves to a second preset range of a target mounting position of the photovoltaic array semi-finished product, aligning the photovoltaic array semi-finished product with the target mounting position through a hanger trolley;
and placing the semi-finished photovoltaic array product to a photovoltaic bracket at the target installation position through the lifting appliance, and fixing the semi-finished photovoltaic array product to realize the installation operation.
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| CN115913074A (en) * | 2022-11-21 | 2023-04-04 | 阳光新能源开发股份有限公司 | Photovoltaic module installation method and system and module installation equipment |
| CN116164730A (en) * | 2023-02-23 | 2023-05-26 | 北京中能云联科技有限公司 | Photovoltaic equipment positioning navigation method and related equipment |
| CN116619367A (en) * | 2023-05-23 | 2023-08-22 | 阳光新能源开发股份有限公司 | Photovoltaic module installation path planning method, device, system and medium |
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| US20170053043A1 (en) * | 2015-08-21 | 2017-02-23 | Solarcity Corporation | Systems and methods for locating structures for rooftop solar panel installation |
| US11241799B2 (en) * | 2016-03-18 | 2022-02-08 | Intelli-Products Inc. | Solar energy array robotic assembly |
| MX2020007200A (en) * | 2017-11-14 | 2021-01-20 | Comau Spa | A method and system for installing photovoltaic solar panels in an outdoor area. |
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| CN115913074A (en) * | 2022-11-21 | 2023-04-04 | 阳光新能源开发股份有限公司 | Photovoltaic module installation method and system and module installation equipment |
| CN116164730A (en) * | 2023-02-23 | 2023-05-26 | 北京中能云联科技有限公司 | Photovoltaic equipment positioning navigation method and related equipment |
| CN116619367A (en) * | 2023-05-23 | 2023-08-22 | 阳光新能源开发股份有限公司 | Photovoltaic module installation path planning method, device, system and medium |
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