CN115709373A - Photovoltaic system replacement method and system - Google Patents
Photovoltaic system replacement method and system Download PDFInfo
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- CN115709373A CN115709373A CN202211458941.0A CN202211458941A CN115709373A CN 115709373 A CN115709373 A CN 115709373A CN 202211458941 A CN202211458941 A CN 202211458941A CN 115709373 A CN115709373 A CN 115709373A
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- 238000009434 installation Methods 0.000 claims description 157
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- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention provides a photovoltaic system replacement method and a photovoltaic system replacement system, wherein the method comprises the following steps: establishing remote interaction between a control center and at least one robot; controlling the robot to move to the position of the target photovoltaic system through the control center; the robot demolishs the target photovoltaic system according to a preset demolishment program and installs the photovoltaic system to be replaced according to a preset installation program, and the demolishment program is obtained by reversely deducing the installation program input in advance. According to the scheme, automatic replacement of the photovoltaic system can be realized, manual operation is reduced, efficiency is improved, and the risk of injury of personnel is reduced.
Description
Technical Field
The invention relates to the technical field of photovoltaic power stations, in particular to a photovoltaic system replacement method and system.
Background
Photovoltaic systems are generally distributed in remote areas, and if the systems are damaged or have faults, the systems need to be replaced on site, otherwise, the power generation capacity is greatly influenced. The change of current system mainly relies on the manpower to accomplish, and the mounting means has the mounting hole installation or uses the briquetting installation etc. and whichever kind of mode all needs the manpower to dismantle, will wait to change the system again and carry appointed position, aligns, step such as installation, locking, needs more than 2 people to accomplish at least during this period, and efficiency is very low, and is inconvenient. Therefore, a method for replacing a photovoltaic system with high efficiency and low labor is needed.
Disclosure of Invention
The invention aims to provide a photovoltaic system replacement method and system, and solves the problems that in the prior art, a large amount of manpower is required to be consumed for photovoltaic system replacement, and the efficiency is low.
The technical scheme provided by the invention is as follows:
the invention provides a photovoltaic system replacement method, which comprises the following steps:
establishing remote interaction between a control center and at least one robot;
controlling the robot to go to the position of a target photovoltaic system through the control center;
the robot demolishs the target photovoltaic system according to a preset demolishment program and installs the photovoltaic system to be replaced according to a preset installation program, and the demolishment program is obtained by reversely deducing the installation program input in advance.
The robot is remotely controlled by the control center to remove and install the photovoltaic system, so that the photovoltaic system can be automatically replaced, manual operation is reduced, efficiency is improved, the risk of injury to personnel is reduced, and the robot is suitable for replacing the photovoltaic system in remote areas.
In some embodiments, before the robot removes the target photovoltaic system according to a preset removal procedure, the method further includes:
shooting mounting component images corresponding to mounting steps in the mounting process of the photovoltaic system in advance, and acquiring the mounting sequence of the mounting components;
acquiring installation parameters of each installation component;
and obtaining an installation program of the photovoltaic system according to the images of the installation components and the installation sequence of the installation components and by combining the installation parameters of the installation components, and inputting the installation program into the robot.
Before implementation, an installation program of each installation component in the photovoltaic system needs to be determined, specifically, before initial installation, an installation component image corresponding to each installation step in the installation process of the photovoltaic system is shot, the installation sequence of each installation component and the installation parameters of each installation component are obtained, and the installation program of the photovoltaic system is determined according to each installation component image and the installation sequence of each installation component and by combining the installation parameters of each installation component. After determining that the photovoltaic system is to be replaced, the installation program can be directly called or selected.
In some embodiments, the pre-capturing an image of an installation component corresponding to each installation step in the installation process of the photovoltaic system specifically includes:
classifying the installation components according to the function types, and acquiring the overall installation sequence of the installation components of each function type and corresponding installation component images;
a monomer mounting order of each mounting component and a corresponding monomer mounting image are acquired.
When the photovoltaic system is installed, each large installation step can be subdivided into a plurality of small steps, and during specific operation, each installation part of the photovoltaic system can be classified according to function types, the overall installation sequence and the corresponding installation part image of each function type of installation part are firstly obtained, and then the single installation sequence and the corresponding single installation image of each installation part are obtained, so that a complete installation program can be obtained.
In some embodiments, the removing procedure is derived by reversely deriving from the installation procedure input in advance, and specifically includes:
the removal program is obtained by inverting the mounting order of the respective mounting components in the mounting program and the individual mounting order of each mounting component one by one.
After the installation program of each installation component of the photovoltaic system is obtained, the installation sequence of each installation component in the installation program and the single installation sequence of each installation component are inverted one by one, so that the corresponding dismantling program of each installation component of the photovoltaic system can be obtained.
In some embodiments, after establishing the remote interaction between the control center and the at least one robot, the method specifically includes:
controlling the robot to grab an updating part corresponding to an installation part to be replaced in the target photovoltaic system and move to the position of the target photovoltaic system;
controlling the robot to detach the installation part to be replaced in the target photovoltaic system according to the detachment program and to install the updating part according to the installation program;
and controlling the robot to grab the detached installation part and move to a preset placing position for placing.
In some embodiments, the number of robots is two;
and the control center controls the two robots to move synchronously, and the target photovoltaic system is dismantled and the photovoltaic system to be replaced is installed from two sides respectively.
In addition, the present invention also provides a photovoltaic system replacement system, comprising:
a control center;
the robot establishes remote interaction with the control center;
the control center controls the robot to go to the position of the target photovoltaic system;
the robot demolishs the target photovoltaic system according to a preset demolishment program and installs the photovoltaic system to be replaced according to a preset installation program, and the demolishment program is obtained by reversely deducing the installation program input in advance.
Photovoltaic system's demolishs and installs through control center remote control robot, can realize photovoltaic system's automatic change, reduces manual operation, is favorable to raising the efficiency, reduces personnel's injured risk, is applicable to the photovoltaic system change in remote area.
In some embodiments, the number of the robots is two, and each robot comprises a mobile chassis and mechanical arms movably connected with the mobile chassis for 360 degrees, and each mechanical arm is movably connected with a mechanical arm;
the control center controls the two robots to move synchronously, and controls the mechanical arm and the mechanical arm to respectively remove the target photovoltaic system and install the photovoltaic system to be replaced from two sides.
In some embodiments, further comprising:
and the camera module is arranged on the mechanical arm or the mechanical arm and is used for acquiring images of the photovoltaic system in real time.
In some embodiments, the mobile chassis further comprises:
the communication module is used for carrying out information interaction with the control center and receiving a control command issued by the control center;
and the positioning module is used for acquiring the current position of the robot and acquiring the current positions of the target photovoltaic system and the photovoltaic system to be replaced.
By the photovoltaic system replacement method and system, automatic replacement of the photovoltaic system can be achieved, manual operation is reduced, efficiency is improved, the risk of injury to personnel is reduced, and the photovoltaic system replacement method and system are suitable for replacement of photovoltaic systems in remote areas.
Drawings
The foregoing features, technical features, advantages and embodiments of the present invention will be further explained in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.
FIG. 1 is a schematic overall flow diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a process for installing a fixed mount photovoltaic system according to an embodiment of the present invention;
FIG. 3 is a schematic view of a subdivision flow for installation of a tracking photovoltaic system according to an embodiment of the present invention;
FIG. 4 is a system architecture diagram of an embodiment of the present invention;
FIG. 5 is a functional schematic of a control center according to an embodiment of the present invention;
fig. 6 is a schematic system structure according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, only the parts relevant to the present invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
In one embodiment, referring to the drawings of the specification and fig. 1, the present invention provides a photovoltaic system replacement method comprising the steps of:
s1, establishing remote interaction between a control center and at least one robot.
The robot all including removing the chassis to and with remove 360 swing joint's on chassis arm, the equal swing joint of arm has the manipulator, thereby can carry out each mounting structure of photovoltaic system and snatch, dismantle and the installation operation.
Referring to the attached drawings of the specification, fig. 4 and fig. 5, the background control center can remotely interact with the robot through 4G, 5G or other signal transmission modes, so that the field situation can be checked in the background through the visual camera while remote control is completed. The functions of the background control center mainly comprise a task management module, a real-time monitoring module, a user setting module, a system debugging and maintaining module and the like, wherein the task management module mainly realizes the functions of carrying out comprehensive inspection, routine inspection, user-defined task, map point selection, task display and the like on a photovoltaic field; the real-time monitoring module mainly realizes the functions of video monitoring, work report checking, robot control and the like; the user setting module mainly realizes the functions of alarm threshold setting, alarm message subscription setting, authority management, typical working point position setting, working area setting and the like; the system debugging and maintaining module mainly realizes the functions of presetting a tracking navigation planning route, map maintenance, software setting, robot setting and the like.
The robot is provided with a communication module which can perform information interaction with the control center and receive a control command issued by the control center. The robot is also provided with a laser radar, an ultrasonic radar, a vision camera and the like, and can be used for positioning the robot, positioning the photovoltaic system, acquiring images of the photovoltaic system and the like.
And S2, controlling the robot to move to the position of the target photovoltaic system through the control center.
When the photovoltaic system needs to be replaced, the control center firstly obtains the position coordinates of the target photovoltaic system, and then controls the robot to automatically go to the target, so that subsequent system replacement operation is performed.
And S3, the robot removes the target photovoltaic system according to a preset removing program, installs the photovoltaic system to be replaced according to a preset installation program, and the removing program is obtained by reversely deducing the installation program input in advance.
When the photovoltaic system is replaced, firstly, an installation program of the photovoltaic system is imported, and a dismantling program is deduced reversely according to the installation program. When the system is replaced, the robot removes the target photovoltaic system according to the deduced removal program, and then installs the photovoltaic system to be replaced according to the preset installation program, so that the system is replaced. Each photovoltaic system corresponds to a set of installation procedures, and before replacement, the system to be replaced needs to be known first, and then the corresponding installation procedure is input or selected.
According to the scheme, the robot is remotely controlled by the control center to remove and install the photovoltaic system, the photovoltaic system can be automatically replaced, manual operation is reduced, efficiency is improved, the risk of injury to personnel is reduced, and the robot is suitable for replacing the photovoltaic system in remote areas.
In one embodiment, before the robot removes the target system according to a preset removal program, the robot further includes:
pre-shooting an installation component image corresponding to each installation step in the installation process of the photovoltaic system, and acquiring the installation sequence of each installation component;
acquiring installation parameters of each installation component;
and obtaining an installation program of the photovoltaic system according to the images of the installation components and the installation sequence of the installation components and by combining the installation parameters of the installation components, and inputting the installation program into the robot.
Before the implementation of the scheme, the installation program of each installation component in the photovoltaic system needs to be determined, specifically, before the initial installation, an installation component image corresponding to each installation step in the installation process of the photovoltaic system is shot, the installation sequence of each installation component and the installation parameters of each installation component (such as the torque value of a certain installation component, for example, a tightening nut) are obtained, and the installation program of the photovoltaic system is determined according to each installation component image and the installation sequence of each installation component and by combining the installation parameters of each installation component. After determining that the photovoltaic system is to be replaced, the installation program can be directly called or selected.
Referring to the drawings of the specification and fig. 2, the steps for installing a photovoltaic system such as a fixed-mount photovoltaic array are generally: piling a precast tubular pile, installing stand columns, installing a hoop, an oblique beam and an oblique brace, fully welding the stand columns by a leveling support, installing purlins, installing an oblique beam pull rod and installing a system. Before initial installation, installation images corresponding to all installation steps in the installation process of the photovoltaic array need to be shot firstly, and an installation program is input into the robot.
In one embodiment, the pre-shooting of the image of the installation component corresponding to each installation step in the installation process of the photovoltaic system specifically includes:
classifying the installation components according to the function types, and acquiring the overall installation sequence of the installation components of each function type and a corresponding installation component image;
a monomer mounting order of each mounting component and a corresponding monomer mounting image are acquired.
Referring to the attached figure 3 of the specification, when a photovoltaic system such as a tracking photovoltaic system is installed, each large installation step can be subdivided into a plurality of small steps, and during specific operation, each installation component of the photovoltaic system can be classified according to function type, the overall installation sequence and the corresponding installation component image of the installation component of each function type are firstly obtained, and then the single installation sequence and the corresponding single installation image of each installation component are obtained, so that a complete installation program can be obtained.
The removal program is obtained by reversely deducing through a pre-input installation program, and specifically comprises the following steps:
the removal program is obtained by inverting the mounting order of the respective mounting components in the mounting program and the individual mounting order of each mounting component one by one.
After the installation program of each installation component of the photovoltaic system is obtained, the installation sequence of each installation component in the installation program and the single installation sequence of each installation component are inverted one by one, so that the corresponding dismantling program of each installation component of the photovoltaic system can be obtained.
Taking a conventional photovoltaic system such as a fixed bracket as an example, according to the installation steps of fig. 2, the corresponding dismantling steps are: dismantling the photovoltaic module in the first step, dismantling the sloping pull rod in the second step, dismantling the purlin in the third step, dismantling the support on the full-welded stand in the fourth step, dismantling staple bolt, sloping, bracing in the fifth step, the sixth step is confirmed that the square matrix is dismantled except the stand and is accomplished.
Taking a tracking photovoltaic system as an example, the installation steps are subdivided according to the function types, and there are single installation components of different function types, and correspondingly, there are also different single installation sequences. Use the robot example with the installation and the demolition of the stand of the tracking photovoltaic system: firstly, mounting a driving upright post on a foundation pile pre-placed in a power station, wherein the step is a welding process, and removing pictures of the driving upright post led in by a robot for visually distinguishing the category of the driving upright post during subsequent removal; secondly, mounting a driving upright post on a foundation pile pre-placed in a power station, wherein the step is also a welding process, and a dismantling robot introduces pictures of the common upright post for visually distinguishing the category of the common upright post during subsequent dismantling; thirdly, installing a rotary base on the driving upright column, correspondingly guiding the picture and the torsion of the rotary base into a dismantling robot by using the specifications of M16, such as bolts and nuts, and the torsion standard of 160-210N.m for subsequent visual distinction of the category of the structural part, and dismantling the installation bolts of the rotary base by using the corresponding torsion; fourthly, installing a top seat on the common upright post, correspondingly guiding the picture and the torsion of the upright post top seat into a dismantling robot by using the specifications of M12, such as bolts, nuts and the like and the torsion standard of 70-85N.m, distinguishing the types of structural parts for subsequent vision, and dismantling the installation bolts of the rotary base by using the corresponding torsion. Leading-in robot of demolising of process with column mouting, demolish the robot and can adopt opposite step to demolish the stand, it is specific: the method comprises the following steps of firstly, visually confirming the type of an upright post top seat, and moving a robot to the front of the upright post top seat; secondly, the mechanical arm uses the torque force of 70-85N.m, and an M12 bolt on the top seat of the upright post is removed; thirdly, visually confirming the type of the rotary base, and moving the machine to the front of the rotary base; fourthly, the mechanical arm uses torque force of 160-210N.m, and M16 bolts on the top seat of the upright post are detached; and fifthly, visually confirming that only common upright columns and driving upright column types are left in the square matrix, and finishing the dismantling project.
In one embodiment, after the remote interaction between the control center and the at least one robot is established, the method specifically includes:
the robot is controlled to grab an updating part corresponding to an installation part to be replaced in the target photovoltaic system and move to the position of the target photovoltaic system;
the robot is controlled to detach the installation part to be replaced in the target photovoltaic system according to the detachment program, and the updating part is installed according to the installation program;
and controlling the robot to grab the detached installation part and move to a preset placing position for placing.
Specifically, when replacing the photovoltaic system, the method includes the disassembly of the old system (i.e., the target photovoltaic system) and the installation of the new system (i.e., the photovoltaic system to be replaced), and also includes the transportation of the disassembled installation component and the updated component. In the scheme, the robot can be controlled to go to the position of the updating component, grab the updating component, go to the position of the target photovoltaic system, detach the mounting component to be replaced and mount the updating component after the updating component is put down, and finally, the robot is controlled to grab the updating component and place the updating component to the preset placing position.
In other embodiments, the removal of the old system may also be performed first. And directly controlling the robot to move to the target photovoltaic system position to remove the installation part to be replaced, then controlling the robot to grab the disassembled installation part to the position of the updating part, then putting down the disassembled installation part, grabbing the updating part, returning, and installing the updating part.
In some embodiments, the number of robots is two; and the control center controls the two robots to move synchronously, and the target photovoltaic system is dismantled and the photovoltaic system to be replaced is installed from two sides respectively.
Referring to the attached drawings of the specification and fig. 6, in the embodiment, the number of the robots is two, and the control center controls the two robots to move synchronously, so as to jointly perform the dismantling and replacing operations of the system. Specifically, when taking off the installation component of damage, two mobile robot independently reach planned target photovoltaic system both sides respectively through remote control or navigation mode, utilize machine-carried vision camera identification system to follow both sides and carry out dismantling of target photovoltaic system respectively. When carrying out the transport of waiting to change installation component, two mobile robot reach photovoltaic system position through remote control or navigation mode, utilize machine to carry the vision camera and find the frame of photovoltaic system both sides, learn concrete coordinate position through vision location, laser radar etc. and grasp behind the frame, two mobile robot keep synchronous operation, and rethread remote control or navigation mode will wait to change installation component and carry to target mounting position. When the installation of the installation part to be replaced is carried out, after the two mobile robots reach the support positions, the target installation positions are obtained through the vision camera, then the laser radar and the ultrasonic sensor assist the mobile equipment to enable the two mobile robots to respectively reach two ends of the installation positions, the mechanical arm lifts the installation part to be replaced, the installation part to be replaced is erected on the upper portion of the support, and then the installation of the installation part to be replaced is carried out.
In one embodiment, the invention further provides a photovoltaic system replacement system which comprises a control center and at least one robot, wherein the robot establishes remote interaction with the control center.
The control center controls the robot to go to the position of the target photovoltaic system; the robot removes the target photovoltaic system according to a preset removing program, installs the installation part to be replaced according to the preset installation program, and reversely deduces the removing program through the installation program input in advance.
Referring to the attached drawings of the specification, fig. 4 and fig. 5, the background control center can remotely interact with the robot through 4G, 5G or other signal transmission modes, so that the field situation can be checked in the background through the visual camera while remote control is completed. The functions of the background control center mainly comprise a task management module, a real-time monitoring module, a user setting module, a system debugging and maintaining module and the like, wherein the task management module mainly realizes the functions of performing comprehensive inspection, routine inspection, user-defined tasks, map point selection, task display and the like on a photovoltaic field; the real-time monitoring module mainly realizes the functions of video monitoring, work report checking, robot control and the like; the user setting module mainly realizes the functions of alarm threshold setting, alarm message subscription setting, authority management, typical working point position setting, working area setting and the like; the system debugging and maintaining module mainly realizes the functions of presetting a tracking navigation planning route, map maintenance, software setting, robot setting and the like.
When replacing the installation component of the photovoltaic system, firstly, the installation program of the photovoltaic system is imported, and the dismantling program is deduced reversely according to the installation program. When the installation part is replaced, the robot removes the target photovoltaic system according to the deduced removal program, and then installs the installation part to be replaced according to the preset installation program, so that the replacement of the system is realized. Each photovoltaic system corresponds to a set of installation procedures, and before replacement, the system to be replaced needs to be known first, and then the corresponding installation procedure is input or selected.
According to the scheme, the robot is remotely controlled by the control center to remove and install the photovoltaic system, the photovoltaic system can be automatically replaced, manual operation is reduced, efficiency is improved, the risk of injury to personnel is reduced, and the robot is suitable for replacing the photovoltaic system in remote areas.
In one embodiment, referring to the attached figure 6 of the specification, the number of the robots is two, and the robots respectively comprise a moving chassis and mechanical arms movably connected with the moving chassis for 360 degrees, and the mechanical arms are movably connected with mechanical arms.
The control center controls the two robots to move synchronously, and controls the mechanical arm and the mechanical arm to respectively remove the target photovoltaic system and install the photovoltaic system to be replaced from two sides.
Referring to the attached drawings of the specification and fig. 6, in the embodiment, the number of the robots is two, and the control center controls the two robots to move synchronously, so as to jointly perform the dismantling and replacing operations of the system. Specifically, when the damaged installation part is taken down, the two mobile robots independently and respectively reach the two sides of the planned target photovoltaic system in a remote control or navigation mode, utilize an onboard vision camera recognition system, and respectively remove the target photovoltaic system from the two sides. When carrying out the transport of waiting to change installation component, two mobile robot reach photovoltaic system position through remote control or navigation mode, utilize machine to carry the vision camera and find the frame of photovoltaic system both sides, learn concrete coordinate position through visual positioning, laser radar etc. and grasp behind the frame, two mobile robot keep synchronous operation, and the rethread remote control or navigation mode will be waited to change the installation component and carry to target mounted position. When the installation of the installation part to be replaced is carried out, after the two mobile robots reach the support positions, the target installation positions are obtained through the vision camera, then the laser radar and the ultrasonic sensor assist the mobile equipment to enable the two mobile robots to respectively reach two ends of the installation positions, the mechanical arm lifts the installation part to be replaced, the installation part to be replaced is erected on the upper portion of the support, and then the installation of the installation part to be replaced is carried out.
In one embodiment, a photovoltaic system replacement system further comprises: and a camera module. The camera module is arranged on the mechanical arm or the mechanical arm and used for acquiring images of the photovoltaic system in real time. In this embodiment, the camera module may be a visual camera or the like. In other embodiments, other image capturing apparatuses can be selected according to actual conditions and requirements.
In one embodiment, the mobile chassis further comprises a communication module and a positioning module.
The communication module is used for carrying out information interaction with the control center and receiving a control command issued by the control center.
The positioning module is used for acquiring the current position of the robot and acquiring the current positions of the target photovoltaic system and the photovoltaic system to be replaced. In this embodiment, the positioning module may be a laser radar, an ultrasonic radar, or the like. In other embodiments, other positioning devices can be selected according to actual conditions and requirements.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.
Claims (10)
1. A photovoltaic system replacement method, comprising the steps of:
establishing remote interaction between a control center and at least one robot;
controlling the robot to move to the position of the target photovoltaic system through the control center;
the robot demolishs the target photovoltaic system according to a preset demolishment program and installs the photovoltaic system to be replaced according to a preset installation program, and the demolishment program is obtained by reversely deducing the installation program input in advance.
2. The method as claimed in claim 1, wherein before the robot removes the target photovoltaic system according to a predetermined removal procedure, the method further comprises:
shooting mounting component images corresponding to mounting steps in the mounting process of the photovoltaic system in advance, and acquiring the mounting sequence of the mounting components;
acquiring installation parameters of each installation component;
and obtaining an installation program of the photovoltaic system according to the images of the installation components and the installation sequence of the installation components and by combining the installation parameters of the installation components, and inputting the installation program into the robot.
3. The photovoltaic system replacement method according to claim 2, wherein the pre-shooting of the mounting component image corresponding to each mounting step in the photovoltaic system mounting process specifically comprises:
classifying the installation components according to the function types, and acquiring the overall installation sequence of the installation components of each function type and a corresponding installation component image;
a monomer mounting order of each mounting component and a corresponding monomer mounting image are acquired.
4. The photovoltaic system replacement method according to claim 3, wherein the removal procedure is derived by a reverse derivation of the installation procedure that is previously entered, and specifically comprises:
the removal program is obtained by inverting the mounting order of the respective mounting components in the mounting program and the individual mounting order of each mounting component one by one.
5. The photovoltaic system replacement method according to any one of claims 2 to 4, wherein after the establishing of the remote interaction between the control center and the at least one robot, the method specifically comprises:
controlling the robot to grab an updated part corresponding to an installation part to be replaced in the target photovoltaic system and move to the position of the target photovoltaic system;
controlling the robot to detach the installation part to be replaced in the target photovoltaic system according to the detachment program and to install the updating part according to the installation program;
and controlling the robot to grab the detached installation part and move to a preset placing position for placing.
6. The photovoltaic system replacement method according to claim 5, wherein the number of the robots is two;
and the control center controls the two robots to move synchronously, and the target photovoltaic system is dismantled and the photovoltaic system to be replaced is installed from two sides respectively.
7. A photovoltaic system replacement system, comprising:
a control center;
the robot establishes remote interaction with the control center;
the control center controls the robot to move to the position of the target photovoltaic system;
the robot demolishs the target photovoltaic system according to a preset demolishment program, and installs the photovoltaic system to be replaced according to a preset installation program, wherein the demolishment program is obtained by reversely deducing the installation program input in advance.
8. The photovoltaic system replacement system according to claim 7, wherein the number of the robots is two, and each robot comprises a moving chassis and a mechanical arm movably connected with the moving chassis by 360 degrees, and each mechanical arm is movably connected with a mechanical arm;
the control center controls the two robots to move synchronously, and controls the mechanical arm and the mechanical arm to respectively remove the target photovoltaic system and install the photovoltaic system to be replaced from two sides.
9. The photovoltaic system replacement system of claim 8, further comprising:
and the camera module is arranged on the mechanical arm or the mechanical arm and is used for acquiring images of the photovoltaic system in real time.
10. The photovoltaic system replacement system of claim 8, wherein the mobile chassis further comprises:
the communication module is used for carrying out information interaction with the control center and receiving a control command issued by the control center;
and the positioning module is used for acquiring the current position of the robot and acquiring the current positions of the target photovoltaic system and the photovoltaic system to be replaced.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211458941.0A CN115709373A (en) | 2022-11-17 | 2022-11-17 | Photovoltaic system replacement method and system |
| PCT/CN2023/110113 WO2024103837A1 (en) | 2022-11-17 | 2023-07-31 | Photovoltaic system replacement method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211458941.0A CN115709373A (en) | 2022-11-17 | 2022-11-17 | Photovoltaic system replacement method and system |
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| CN115709373A true CN115709373A (en) | 2023-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211458941.0A Pending CN115709373A (en) | 2022-11-17 | 2022-11-17 | Photovoltaic system replacement method and system |
Country Status (2)
| Country | Link |
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| CN (1) | CN115709373A (en) |
| WO (1) | WO2024103837A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024103837A1 (en) * | 2022-11-17 | 2024-05-23 | 湖州丽天智能科技有限公司 | Photovoltaic system replacement method and system |
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