Title:
PHOTOVOLTAIC CELL STRING POSITIONING METHOD BASED ON MULTIPLE CAMERAS
Document Type and Number:
WIPO Patent Application WO/2020/087909
Kind Code:
A1
Abstract:
Disclosed is a photovoltaic cell string positioning method based on multiple cameras. A corner image of a photovoltaic cell string is acquired by means of a corner position camera, and a long-edge image of the photovoltaic cell string is acquired by means of a long-edge position camera. A robot reference coordinate system r and a corner position camera reference coordinate system are established. A photovoltaic cell string standard composition position c3(X3, Y3, a3) and a photovoltaic cell string position c4(X4, Y4, a4) acquired by means of the long-edge position camera are calculated, and a difference (Dx, Dy, Da) between the photovoltaic cell string position and the photovoltaic cell string standard composition position is then calculated. Data is finally transmitted to a composition robot by means of communication through the Ethernet, and the robot adds [Dx, Dy, Da] on the basis of a point position r6 and is operated. According to the present invention, by means of methods such as positioning local features through fitting, weight calculation and deduction calculation, the precision is improved, while enabling the on-site photovoltaic positioning precision to be within 0.1 mm, and improving the working efficiency.
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Inventors:
YIN ZHANGQIN (CN)
WAN HAO (CN)
ZHANG YE (CN)
WANG JIEGAO (CN)
WAN HAO (CN)
ZHANG YE (CN)
WANG JIEGAO (CN)
Application Number:
PCT/CN2019/087239
Publication Date:
May 07, 2020
Filing Date:
May 16, 2019
Export Citation:
Assignee:
NANJING ESTUN ROBOTICS CO LTD (CN)
International Classes:
G06T7/73
Foreign References:
| CN103692447A | 2014-04-02 | |||
| CN106934813A | 2017-07-07 | |||
| US20180222055A1 | 2018-08-09 |
Attorney, Agent or Firm:
NANJING RUIZHIBO INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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