Method, device, equipment and medium for automatically monitoring the position of the pile head of a photovoltaic pile driver

Abstract

The application discloses a kind of automatic monitoring photovoltaic pile driver pile top position method, comprising: obtaining the coordinate information of first position point and second position point of installation support before not being piled, the coordinate information of drill bit position point before not being piled, each length information of drill bit measurement system is solved out;When test pile is punched and reaches target position, based on the numerical value recorded by the length of rope sensor and the length information of each length of drill bit measurement system solved out, the second coordinate information of drill bit position point when reaching target position is solved out;When piling is completed, the pile top coordinate of test pile is obtained;Based on the position information of compensation pile top that is calculated reversely based on pile top coordinate;Real-time target pile pile top position information is obtained based on the inverse algorithm of vehicle size, to realize the elevation alignment of each target pile.The application realizes elevation alignment by automatically recording the elevation position of target pile, thereby reducing labor cost and improving construction efficiency.

Description

Technical Field

[0001] This invention belongs to the field of piling equipment technology, specifically relating to a method, device, equipment and medium for automatically monitoring the position of the top of a photovoltaic piling machine. Background Technology

[0002] Photovoltaic piling machines are mainly used for installing solar photovoltaic panel supports in solar photovoltaic power plants. Precise piling ensures the stability and safety of the photovoltaic panel installation. Existing photovoltaic piling machines can only quickly drive and extract piles, but they cannot accurately locate the pile points or automatically measure the elevation of the target piles. Manual measurement and adjustment of pile top elevations at the same height are required to achieve pile alignment, which demands high technical skills from construction personnel and results in a high rework rate. Furthermore, errors in manual measurement affect the stability and safety of subsequent photovoltaic panel installation. Summary of the Invention

[0003] The purpose of this invention is to provide a method, apparatus, equipment, and medium for automatically monitoring the position of the top of a photovoltaic piling machine, in order to solve the above-mentioned problems existing in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The present invention also provides a method for automatically monitoring the position of the top of a photovoltaic piling machine, characterized in that it includes:

[0006] The coordinates of the first and second positions of the mounting bracket before the photovoltaic piling machine is driven by the GNSS global satellite navigation system are obtained, and the coordinates of the drill bit position before the photovoltaic piling machine is driven by the RTK point-tracking system are obtained.

[0007] Establish a first relative coordinate system, with the origin of the first relative coordinate system being the location of the second position point, the positive X-axis being the direction from the second position point to the fourth position point, the positive Y-axis being the direction from the fourth position point to the third position point, and the positive Z-axis being vertically upward. The fourth position point and the third position point are determined based on the drill bit position point, the first position point, and the second position point.

[0008] Based on the established first relative coordinate system, the length information is calculated. The length information includes the length information from the second position point to the fourth position point, the length information from the fourth position point to the third position point, and the length information from the third position point to the drill bit position point. After the length information is calculated, the initial value of the rope sensor is recorded.

[0009] When the photovoltaic piling machine drives the test pile and reaches the target position, based on the calculated length information of the drill bit measurement system and the values ​​recorded by the rope sensor, the second coordinate information of the drill bit position point when the target position is reached is calculated in real time.

[0010] After the photovoltaic piling machine finishes driving the piles, the coordinates of the top of the test piles are obtained by RTK point marking.

[0011] Based on the second coordinate information of the pile top coordinates and the drill bit position, the position information of the compensation pile top is calculated by transforming the measurement coordinate system into a relative coordinate system.

[0012] Based on the aforementioned length information and the position information of the top of the compensation pile, the position information of the drill bit and the top position information of the target pile are obtained in real time when the photovoltaic piling machine is driving the target pile, so as to achieve the elevation alignment of each target pile.

[0013] In some embodiments, the coordinate information of a third position point is obtained by drawing a perpendicular line from the drill bit position point to the plane containing the first and second position points, and the coordinate information of a fourth position point is obtained by drawing a perpendicular line from the third position point to the line segment formed by the first and second position points.

[0014] In some embodiments, the GNSS global satellite navigation system includes a high-precision positioning antenna and a high-precision directional antenna, wherein achieving elevation alignment of each target stake includes:

[0015] The high-precision directional antenna and high-precision positioning antenna determine the northeast elevation coordinates and yaw angles of the first and second position points on the mounting bracket before the photovoltaic piling machine starts piling, and the initial displacement value of the photovoltaic piling machine before piling is recorded by the rope sensor, and the displacement value of the photovoltaic piling machine after driving the target pile is recorded by the rope sensor.

[0016] Based on the northeast elevation coordinates and yaw angles of the first and second location points, the initial displacement value of the photovoltaic piling machine before piling and the displacement value after driving the target pile are obtained. The target pile elevation information is acquired in real time by using the calculation method of transforming the measurement coordinate system into a relative coordinate system, so as to achieve elevation alignment of each target pile.

[0017] In some embodiments, the high-precision positioning antenna and the high-precision directional antenna are disposed on the left and right sides of the mounting bracket of the photovoltaic piling machine.

[0018] In some embodiments, one end of the pull rope sensor is fixed at any position on the mounting bracket of the photovoltaic piling machine, and the other end is fixed at any position on the drill bit.

[0019] In some embodiments, the calculation of length information based on the established first relative coordinate system specifically includes:

[0020] The yaw angle of the first position point on the mounting bracket when the photovoltaic piling machine is not driving piles is determined by a high-precision directional antenna. The northeast-high coordinate of the second position point on the mounting bracket when the photovoltaic piling machine is not driving piles is determined by a high-precision positioning antenna. The coordinate information of the drill bit position point before the photovoltaic piling machine is not driving piles is obtained by RTK point marking.

[0021] Establish a first relative coordinate system, where the origin of the first relative coordinate system is the location of the second position point, the positive X-axis is the direction from the second position point to the fourth position point, the positive Y-axis is the direction from the fourth position point to the third position point, and the positive Z-axis is vertically upward.

[0022] By using the coordinate system transformation to relative coordinate system calculation method, the length information is calculated in reverse.

[0023] In some embodiments, the GNSS global satellite navigation system includes a high-precision directional antenna, wherein the method of using the measurement coordinate system to transform the relative coordinate system to calculate the position information of the compensation pile top specifically involves:

[0024] The second coordinate information of the drill bit position point, the pile top coordinates of the test pile, and the northeast elevation position information and yaw angle of the second position point on the mounting bracket when the photovoltaic pile driver is driving the test pile, determined by the high-precision directional antenna;

[0025] By using the coordinate system transformation to relative coordinate system calculation method, the position information of the top of the compensation pile is calculated in reverse.

[0026] Accordingly, the present invention also discloses a device for automatically monitoring the position of the top of a photovoltaic piling machine, the device comprising:

[0027] The coordinate information acquisition module is used to acquire the coordinate information of the first and second position points of the mounting bracket of the photovoltaic piling machine before piling by using the GNSS global satellite navigation system, and to acquire the coordinate information of the drill bit position point of the photovoltaic piling machine before piling by using RTK point mapping.

[0028] The module is used to establish a first relative coordinate system. The origin of the first relative coordinate system is the location of the second position point. The positive X-axis is the direction from the second position point to the fourth position point, the positive Y-axis is the direction from the fourth position point to the third position point, and the positive Z-axis is vertically upward.

[0029] The first calculation module is used to calculate each length information based on the established first relative coordinate system. The length information includes the length information from the second position point to the fourth position point, the length information from the fourth position point to the third position point, and the length information from the third position point to the drill bit position point. After calculating each length information, the initial value of the rope sensor is recorded.

[0030] The second calculation module is used to calculate the second coordinate information of the drill bit position point in real time when the photovoltaic piling machine hits the target position after driving the test pile and hitting the target position, based on the calculated length information of the drill bit measurement system and the value recorded by the rope sensor.

[0031] The first acquisition module is used to acquire the top coordinates of the test pile through RTK point marking after the photovoltaic piling machine has completed piling.

[0032] The second acquisition module is used to back-calculate the position information of the compensation pile top based on the pile top coordinates of the test pile and the second coordinate information of the drill bit position point, using the method of transforming the measurement coordinate system into a relative coordinate system.

[0033] The pile top position information acquisition module is used to acquire the position information of the drill bit and the top position information of the target pile when the photovoltaic piling machine is driving the target pile in real time based on the length information, the second coordinate information and the position information of the compensation pile top, so as to achieve the elevation alignment of each target pile.

[0034] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the steps of the method described herein.

[0035] A non-transitory computer-readable storage medium having a computer program stored thereon, the computer program implementing the steps of the method when executed by a processor.

[0036] Beneficial effects:

[0037] The method for automatically monitoring the top position of photovoltaic piling machines in this application is mainly used in the digital construction industry. It involves guiding photovoltaic piling machines and automatically recording the elevation position of the target pile to achieve elevation alignment, thereby reducing labor costs and improving the accuracy and efficiency of construction operations. Attached Figure Description

[0038] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings:

[0039] Figure 1 A flowchart illustrating a method for automatically monitoring the position of the top of a photovoltaic piling machine, provided in an embodiment of this application;

[0040] Figure 2 A front view of a photovoltaic piling machine provided in an embodiment of this application;

[0041] Figure 3 A hardware system provided for an embodiment of this application;

[0042] Figure 4 A top view of a photovoltaic piling machine provided in an embodiment of this application;

[0043] Figure 5 A flowchart illustrating another inverse algorithm for determining vehicle dimensions provided in this application embodiment;

[0044] Figure 6 This application provides a measurement system coordinate to relative system coordinate diagram in an embodiment of the present application.

[0045] Figure 7 A relative coordinate system to measurement coordinate system coordinate diagram provided in this application embodiment;

[0046] Figure 8 A schematic diagram of the structure of a device for automatically monitoring the position of the top of a photovoltaic piling machine, provided in an embodiment of this application;

[0047] Figure 9 This is a schematic diagram of the physical structure of an electronic device provided in an embodiment of this application.

[0048] illustrate:

[0049] P - First position point; O - Second position point; Q - Fourth position point; T - Third position point; A - Drill bit position point; 3 - Mounting bracket; 4 - Drill bit device; 5 - Target pile or test pile. Detailed Implementation

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0051] It should be understood that although the terms first, second, etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, without departing from the scope of the exemplary embodiments of the invention.

[0052] It should be understood that the term "and / or" that may appear in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" that may appear in this document describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this document generally indicates that the related objects before and after it are in an "or" relationship.

[0053] Example 1:

[0054] like Figure 1 The diagram shown is a flowchart illustrating a method for automatically monitoring the position of the top of a photovoltaic piling machine according to an embodiment of the present invention, including:

[0055] S21-S22, Figure 2 The image shows a front view of a photovoltaic (PV) piling machine, including the machine body. The machine body is equipped with a mounting bracket 3, a drill bit device 4, and a target pile or test pile 5. The PV piling machine obtains the coordinate information of the first position point P and the second position point O of the mounting bracket before piling using a GNSS global satellite navigation system, and the coordinate information A of the drill bit position point before piling using RTK (Real-Time Kinematics) mapping. The length information of the drill bit measurement system is then calculated. The GNSS global satellite navigation system includes a high-precision positioning antenna and a high-precision directional antenna. The length information includes the length from the second position point to the fourth position point Q, the length from the fourth position point Q to the third position point T, and the length from the third position point T to the drill bit position point. After calculating the length information of the drill bit measurement system, the initial value of the cable sensor is recorded.

[0056] Specifically, the GNSS global satellite navigation system includes a high-precision positioning antenna and a high-precision directional antenna, which are installed on the left and right sides of the mounting bracket of the photovoltaic piling machine. It should be noted that the installation distance between the high-precision positioning antenna and the high-precision directional antenna should not be too close to prevent measurement errors. The coordinate information of the first position point P and the second position point O of the mounting bracket before the photovoltaic piling machine is driven is obtained through the GNSS global satellite navigation system, and the coordinate information of the drill bit position point A before the photovoltaic piling machine is driven is obtained through RTK point mapping. Various length information is calculated, including the length from the second position point O to the fourth position point Q, the length from the fourth position point Q to the third position point T, and the length from the third position point T to the drill bit position point. A perpendicular line is drawn from the drill bit position point to the plane containing the first position point P and the second position point O to obtain the coordinate information of the third position point T. A perpendicular line is drawn from the third position point T to the line segment formed by the first position point P and the second position point O to obtain the coordinate information of the fourth position point Q.

[0057] It should be noted that 1) RTK, short for Real-time Kinematic, is a carrier phase differential technology that processes the carrier phase observations of two measurement stations in real time. The carrier phase data collected by the base station is sent to the user receiver for differential calculation of coordinates. This is a new and commonly used GPS measurement method. Previous static, rapid static, and dynamic measurements all required post-processing to achieve centimeter-level accuracy. RTK, however, is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. It employs a dynamic real-time carrier phase differential method, representing a significant milestone in GPS applications and greatly improving the efficiency of field operations.

[0058] 2) One end of the pull-rope sensor is fixed at any position on the mounting bracket, and the other end is fixed at any position on the drill bit assembly. Installation is based on the actual conditions of the pile foundation on site, facilitating on-site construction. Both ends must be on the same side of the drill bit assembly and as perpendicular to the ground as possible. Positional installation is also a key feature. Therefore, the initial recorded value is from one point on the mounting bracket to one point on the drill bit assembly.

[0059] After calculating the various length information, the initial values ​​of the cable displacement sensor are recorded. One end of the cable displacement sensor is fixed at any position on the mounting bracket, and the other end is fixed at any position on the drill bit assembly. Installation is based on the actual conditions of the pile foundation on site, facilitating on-site construction. Both ends must be on the same side of the drill bit assembly and as perpendicular to the ground as possible. Positional installation is also a key feature. Therefore, the recorded initial values ​​are from one point on the mounting bracket to one point on the drill bit assembly.

[0060] S23. Based on the established first relative coordinate system, calculate each length information, which includes the length information from the second position point to the fourth position point, the length information from the fourth position point to the third position point, and the length information from the third position point to the drill bit position point.

[0061] To calculate the length information of the drill bit measurement system, in a preferred embodiment of this solution, the length information is calculated as follows:

[0062] The NE-H and yaw coordinates of the first and second positions on the mounting bracket of the photovoltaic piling machine before and after piling were determined using high-precision directional and positioning antennas. The coordinates of the drill bit position A before piling were obtained by RTK point mapping. A first relative coordinate system was established, with the origin at the location of the second position point O, the positive X-axis from the second position point O to the fourth position point Q, the positive Y-axis from the fourth position point Q to the third position point T, and the positive Z-axis vertically upward. The length information was calculated by using the relative coordinate system calculation method of measuring coordinate system transformation.

[0063] S24. After the photovoltaic piling machine drives the test pile and reaches the target position, based on the calculated length information of the drill bit measurement system and the values ​​recorded by the rope sensor, the second coordinate information of the drill bit position point when the target position is reached is calculated in real time.

[0064] S25: After the photovoltaic piling machine finishes driving the pile, remove the top of the pile and obtain the coordinates of the top of the test pile by RTK point marking.

[0065] S26. Based on the second coordinate information of the pile top coordinates and the drill bit position, the position information of the compensation pile top is calculated by transforming the measurement coordinate system into a relative coordinate system.

[0066] In order to calculate the position information of the top of the compensation pile, in a preferred embodiment of this scheme, the position information of the top of the compensation pile is calculated by transforming the measurement coordinate system into a relative coordinate system. Specifically:

[0067] The second coordinate information of the drill bit position point, the pile top coordinates of the test pile, and the NE and yaw coordinates of the first and second position points on the mounting bracket when the photovoltaic piling machine is driving or not are obtained using a high-precision directional antenna and a positioning antenna. A first relative coordinate system is established, with the origin at the location of the second position point O, the positive X-axis in the direction from the second position point O to the fourth position point Q, the positive Y-axis in the direction from the fourth position point Q to the third position point T, and the positive Z-axis vertically upward. The position information of the compensation pile top is calculated by using the relative coordinate system calculation method of measuring coordinate system transformation.

[0068] S27. Based on the length information and the position information of the compensation pile top, the position information of the drill bit and the position information of the target pile are obtained in real time when the photovoltaic piling machine is driving the target pile, so as to achieve the elevation alignment of each target pile.

[0069] Specifically, the high-precision directional antenna and positioning antenna determine the northeast elevation and yaw coordinates of the first and second position points on the mounting bracket when the photovoltaic piling machine is driving or not. The initial displacement value of the photovoltaic piling machine before driving the pile is recorded by the rope sensor, and the displacement value of the photovoltaic piling machine after driving the target pile is recorded by the rope sensor. Based on the northeast elevation coordinates and yaw angle of the first and second position points, the initial displacement value of the photovoltaic piling machine before driving the pile and the displacement value after driving the target pile, the elevation information of the target pile is obtained in real time by using the calculation method of transforming the measurement coordinate system into a relative coordinate system, so as to achieve the elevation alignment of each target pile.

[0070] Example 2:

[0071] This invention discloses a method for automatically monitoring the position of the top of a photovoltaic piling machine based on GNSS (Global Navigation Satellite System), involving technologies such as hardware installation and software three-dimensional coordinate calculation.

[0072] Detailed description of hardware assembly and installation:

[0073] The hardware system involved in this invention includes an intelligent display and control terminal, a high-precision positioning antenna, a high-precision positioning antenna (hereinafter referred to as GNSS antenna), and a pull rope sensor. The positioning antenna and the directional antenna are connected to the intelligent display and control terminal to resolve the northeast-high position coordinates and yaw angles of the first position point and the second position point.

[0074] like Figure 3 As shown. A GNSS antenna is installed at any position on the mounting bracket of the photovoltaic piling machine to measure the coordinates and elevation of the piling machine's positioning point. The three-dimensional coordinate calculation software obtained in this application mainly includes an inverse algorithm for vehicle dimensions and a forward algorithm for the coordinates of the drill bit and the top of the target pile.

[0075] I. Inverse algorithm for vehicle dimensions:

[0076] The inverse kinematics algorithm involves calculating the position of the drill bit measurement system, measuring and recording the coordinates of the test pile top, and calculating the pile top compensation position. The algorithm processes the measured values ​​to calculate the pile foundation dimensions and location information. For example... Figure 4 This is a top view of a photovoltaic piling machine; its detailed process is as follows: Figure 5 As shown:

[0077] S1. The inverse calculation of the position of the drill bit measuring system is used to calculate the lengths of line segments OQ, QT, and TA. The specific inverse calculation process is as follows:

[0078] 1. Obtain the yaw angle (determined by a high-precision directional antenna) from the GNSS measurement data parameters, denoted as Azimuth; obtain the initial displacement value of the rope sensor, denoted as ropevalue; and obtain the northeast-east elevation coordinates of the second position point determined by the high-precision positioning antenna, denoted as (Ox, Oy, Oz).

[0079] 2. Measure the coordinate information of drill bit position point A, and record the coordinate values ​​as (Ax, Ay, Az) by RTK point measurement;

[0080] 3. Establish the first relative coordinate system, with the origin O, the positive X-axis in the OQ direction, the positive Y-axis in the QT direction, and the positive Z-axis vertically upward;

[0081] 4. Using the coordinate system transformation and relative coordinate system calculation method, calculate the lengths of OQ, QT, and TA. Simultaneously record the initial values ​​of the rope sensor.

[0082] S2. Measurement of the coordinates of the top of the test pile, the specific process is as follows:

[0083] 1. Calculate the coordinates of drill bit position point A in the measurement system using the inverse calculation of OQ, QT, and TA.

[0084] 2. Obtain the yaw of the orientation sensor, denoted as Azimuth; the displacement value of the rope sensor, denoted as ropevalue; and the coordinates of the positioning sensor, denoted as (Ox, Oy, Oz).

[0085] 3. Using the coordinates of the positioning sensor and the displacement value of the rope sensor, the relative coordinates of point A are calculated by an algorithm. Then, the coordinates of drill bit A are calculated by transforming the relative coordinate system to the measurement coordinate system.

[0086] 4. After moving to the target location, test piles are driven. After the target location is measured manually, the intelligent display and control terminal integrates algorithm processing and displays operation buttons through software. Click the record button to record the coordinates of point A as (Ax, Ay, Az).

[0087] 5. Remove the top of the pile and measure the coordinates of the pile top using the RTK method, denoted as (Ex, Ey, Ez).

[0088] S3. Calculation of the pile top compensation location, the specific process is as follows:

[0089] After completing the test pile, the drill bit coordinates and pile top coordinates are measured. Based on the relative coordinate system, the position information of the compensation pile top (compensationX, compensationY, compensationZ) is calculated. The specific process is as follows:

[0090] 1. Obtain the yaw of the orientation sensor, denoted as Azimuth, the coordinates of point A, denoted as (Ax, Ay, Az), and the coordinates of the top of the pile E, denoted as (Ex, Ey, Ez);

[0091] 2. The origin is the location of the second position point O. The positive X-axis extends from the second position point O to the fourth position point Q, the positive Y-axis extends from the fourth position point Q to the third position point T, and the positive Z-axis points vertically upward. Using the method of transforming the measurement coordinate system into a relative coordinate system, the relative coordinates of points A and E are calculated. The difference is then used to obtain the values ​​of compensationX, compensationY, and compensationZ. These values ​​are saved to the underlying configuration file of the intelligent display and control terminal. All inverse kinematics algorithms are then completed. The pile foundation dimensions and location information are calculated using the inverse kinematics algorithms. The forward calculation process requires this data to achieve real-time positioning.

[0092] II. Forward algorithm for determining the coordinates of the drill bit and the top of the target pile:

[0093] The forward algorithm uses the length information, compensationX, compensationY, compensationZ, and position information (ropevalue) of the drill bit measurement system obtained by the inverse algorithm, as well as the real-time coordinates Ox, Oy, Oz, and heading angle data (Azimuth) collected by the positioning and orientation sensor. It then uses a relative coordinate system transformation method to calculate the coordinates of the drill bit (A) and the top coordinates of the target pile in real time. This application uses GNSS and displacement sensors, and a guidance algorithm to automatically record the elevation position information of the target pile, achieving elevation alignment.

[0094] Description of coordinate system transformations involved:

[0095] Transforming the coordinate system of a measurement system into the coordinate system of a relative system, such as... Figure 6 The coordinates of the 0 point of the measurement system (X) O Y O Z O ), coordinates of point A (X) A Y A Z A Let O be the origin of the coordinate system. The formula for calculating the coordinates of point A relative to point O is:

[0096] x a =(X A +X O )cosα+(Y A +Y O sinα

[0097] y a =(X A +X O )sinα+(YA +Y O cosα

[0098] z a =(Z A -Z O )

[0099] Relative coordinate system to measurement coordinate system conversion, such as Figure 7 As shown, the coordinates of the relative point 0 (x) o y o , z o ), coordinates of point A (x a y a , z a (The coordinate system is defined with point O as the origin.) The formula for calculating point A by rotating it to the surveying system is:

[0100] X A =x a cosα+y a sinα+x o

[0101] Y A =x a sinα+cosαy a +y o

[0102] Z A =(z a -z o )

[0103] The technical solution provided in this invention can be used in the photovoltaic piling machine pile top position detection system.

[0104] Example 3:

[0105] The GNSS global satellite navigation system uses a positioning and direction-finding antenna, which includes a positioning antenna and a directional antenna. It is connected to the GPS receiver module integrated in the intelligent display and control terminal to calculate three-dimensional position information in real time based on the received GPS signal and the differential signal sent by the GPS reference station.

[0106] In one embodiment of this application: hardware installation, fixing the positioning orientation to the mounting bracket, from the driver's perspective, positioning on the left. Figure 2 Point O in the diagram is oriented to point P on the right. Point 4 is the drill bit assembly. Point T is the foot of the perpendicular line drawn from point A to plane OP, and point Q is the foot of the perpendicular line drawn from point T to line segment OP. Fix one end of the pull rope sensor to the mounting bracket (for easy installation), and fix the other end to any position on the drill bit, so that the movement trajectory of the pull rope is as parallel as possible to the drill bit assembly.

[0107] The first step of the back-calculation calibration is as follows: Manually input the measured coordinates of point A on the pile head, click the "Calibrate" button, and the page will display the calibrated OQ, QT, and TA dimensions. Save the initial values ​​of the rope sensor and click "Next" to save the calibration dimensions displayed on the page. Raise the drill bit device, install the target pile, and begin construction. After reaching the target height, click the "Acquire" button to record the coordinates of point A. Remove the machinery (drill bit device), manually input the measured coordinates of point E at the top of the target pile, and click "Calibrate." Calculate the compensation value. The back-calculation calibration process is complete. After applying the calibrated data, the three-dimensional coordinate information of point E can be displayed in real time.

[0108] This application uses GNSS and displacement sensors to calculate the top position of photovoltaic (PV) sheet piles, enabling rapid guidance to the target pile top elevation during construction. This reduces surveying work and avoids rework, significantly improving construction efficiency and accuracy. It records the target pile elevation and position information and achieves pile elevation alignment, thereby reducing labor costs and improving the accuracy, efficiency, and productivity of construction operations. The system obtains the north, east, altitude, and yaw values ​​of the positioning antenna via GNSS, and uses RTK to measure the north, east, and altitude of the top of the target pile connection mechanism. An algorithm is then used to calculate the dimensions of the top of the pile connection mechanism. After driving the target pile, the real-time position of the top of the pile connection mechanism is recorded, and the target pile top coordinates are measured using RTK. The algorithm then calculates the dimensions of the top of the pile connection mechanism relative to the target pile top. Construction then begins, and the real-time position of the PV sheet pile driver and the pile top can be located via GNSS. Recording the construction elevation and the exact position of the target pile improves construction accuracy and achieves target pile elevation alignment.

[0109] Figure 8 A schematic diagram of the structure of a device for automatically monitoring the position of the top of a photovoltaic piling machine provided by the present invention includes:

[0110] The coordinate information acquisition module 10 is used to acquire the coordinate information of the first and second position points of the mounting bracket of the photovoltaic piling machine before piling by the GNSS global satellite navigation system, and to acquire the coordinate information of the drill bit position point of the photovoltaic piling machine before piling by RTK point mapping.

[0111] Module 20 is used to establish a first relative coordinate system. The origin of the first relative coordinate system is the location of the second position point. The positive X-axis is the direction from the second position point to the fourth position point, the positive Y-axis is the direction from the fourth position point to the third position point, and the positive Z-axis is vertically upward.

[0112] The first calculation module 20 is used to calculate each length information based on the established first relative coordinate system. The length information includes the length information from the second position point to the fourth position point, the length information from the fourth position point to the third position point, and the length information from the third position point to the drill bit position point. After calculating each length information of the drill bit measurement system, the initial value of the rope sensor is recorded.

[0113] The second calculation module 30 is used to calculate the second coordinate information of the drill bit position point when the photovoltaic piling machine hits the target position after it has driven the test pile and hit the target position, based on the calculated length information of the drill bit measurement system and the value recorded by the rope sensor.

[0114] The first acquisition module 40 is used to acquire the top coordinates of the test pile through RTK point marking after the photovoltaic piling machine has completed piling.

[0115] The second acquisition module is used to back-calculate the position information of the compensation pile top based on the pile top coordinates of the test pile and the second coordinate information of the drill bit position point, using the method of transforming the measurement coordinate system into a relative coordinate system.

[0116] The pile top position information acquisition module 50 is used to acquire the position information of the drill bit and the top position information of the target pile when the photovoltaic piling machine is driving the target pile in real time based on the length information and the position information of the compensation pile top, so as to achieve the elevation alignment of each target pile.

[0117] Figure 9 This is a schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention, such as... Figure 9 As shown, the electronic device 60 includes: a processor 601, a memory 602, and a bus 603;

[0118] The processor 601 and the memory 602 communicate with each other via the bus 603.

[0119] The processor 601 is used to call program instructions in the memory 602 to execute the methods provided in the above-described method embodiments.

[0120] This embodiment provides a non-transitory computer-readable storage medium that stores computer instructions, which cause a computer to execute the methods provided in the above-described method embodiments. Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium, and when executed, it performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0121] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0122] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0124] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for automatically monitoring the position of the top of a photovoltaic piling machine, characterized in that, include: The coordinates of the first and second positions of the mounting bracket before the photovoltaic piling machine is driven by the GNSS global satellite navigation system are obtained, and the coordinates of the drill bit position before the photovoltaic piling machine is driven by the RTK point-tracking system are obtained. Establish a first relative coordinate system, with the origin of the first relative coordinate system being the location of the second position point, the positive X-axis being the direction from the second position point to the fourth position point, the positive Y-axis being the direction from the fourth position point to the third position point, and the positive Z-axis being vertically upward. The fourth position point and the third position point are determined based on the drill bit position point, the first position point, and the second position point. Based on the established first relative coordinate system, the length information is calculated. The length information includes the length information from the second position point to the fourth position point, the length information from the fourth position point to the third position point, and the length information from the third position point to the drill bit position point. After the length information is calculated, the initial value of the rope sensor is recorded. When the photovoltaic piling machine drives the test pile and reaches the target position, based on the calculated length information and the values ​​recorded by the rope sensor, the second coordinate information of the drill bit position point when the target position is reached is calculated in real time. After the photovoltaic piling machine finishes driving the piles, the coordinates of the top of the test piles are obtained by RTK point marking. Based on the second coordinate information of the pile top coordinates and the drill bit position, the position information of the compensation pile top is calculated by transforming the measurement coordinate system into a relative coordinate system. Based on the aforementioned length information and the position information of the top of the compensation pile, the position information of the drill bit and the top position information of the target pile are obtained in real time when the photovoltaic piling machine is driving the target pile, so as to achieve the elevation alignment of each target pile; The GNSS global satellite navigation system includes a high-precision positioning antenna and a high-precision directional antenna, wherein the elevation alignment of each target stake includes: The high-precision directional antenna and high-precision positioning antenna determine the northeast elevation coordinates and yaw angles of the first and second position points on the mounting bracket before the photovoltaic piling machine starts piling, and the initial displacement value of the photovoltaic piling machine before piling is recorded by the rope sensor, and the displacement value of the photovoltaic piling machine after driving the target pile is recorded by the rope sensor. Based on the northeast high coordinates and yaw angles of the first and second position points, the initial displacement value of the photovoltaic piling machine before piling and the displacement value after driving the target pile are obtained. The target pile elevation information is acquired in real time by using the calculation method of transforming the measurement coordinate system into the relative coordinate system, so as to achieve elevation alignment of each target pile. The length information is calculated based on the established first relative coordinate system, specifically as follows: The yaw angle of the first position point on the mounting bracket when the photovoltaic piling machine is not driving piles is determined by a high-precision directional antenna. The northeast-high coordinate of the second position point on the mounting bracket when the photovoltaic piling machine is not driving piles is determined by a high-precision positioning antenna. The coordinate information of the drill bit position point before the photovoltaic piling machine is not driving piles is obtained by RTK point marking. Establish a first relative coordinate system, where the origin of the first relative coordinate system is the location of the second position point, the positive X-axis is the direction from the second position point to the fourth position point, the positive Y-axis is the direction from the fourth position point to the third position point, and the positive Z-axis is vertically upward. By using the coordinate system transformation to relative coordinate system calculation method, the length information is calculated in reverse.

2. The method according to claim 1, characterized in that, Draw a perpendicular line from the drill bit position point to the plane containing the first and second position points to obtain the coordinate information of the third position point. Draw a perpendicular line from the third position point to the line segment formed by the first and second position points to obtain the coordinate information of the fourth position point.

3. The method according to claim 1, characterized in that, The high-precision positioning antenna and the high-precision directional antenna are installed on the left and right sides of the mounting bracket of the photovoltaic piling machine.

4. The method according to claim 1, characterized in that, One end of the pull rope sensor is fixed at any position on the mounting bracket of the photovoltaic piling machine, and the other end is fixed at any position on the drill bit.

5. The method according to claim 1, characterized in that, The GNSS global satellite navigation system includes a high-precision directional antenna. Specifically, the method of using a measurement coordinate system to transform into a relative coordinate system to calculate the position information of the compensation pile top involves: The second coordinate information of the drill bit position point, the pile top coordinates of the test pile, and the northeast elevation position information and yaw angle of the second position point on the mounting bracket when the photovoltaic pile driver is driving the test pile, determined by a high-precision directional antenna; By using the coordinate system transformation to relative coordinate system calculation method, the position information of the top of the compensation pile is calculated in reverse.

6. A device for automatically monitoring the position of the top of a photovoltaic piling machine, characterized in that, A method for automatically monitoring the pile top position of a photovoltaic piling machine according to any one of claims 1 to 5, wherein the apparatus comprises: The coordinate information acquisition module is used to acquire the coordinate information of the first and second position points of the mounting bracket of the photovoltaic piling machine before piling by using the GNSS global satellite navigation system, and to acquire the coordinate information of the drill bit position point of the photovoltaic piling machine before piling by using RTK point mapping. A module is established to establish a first relative coordinate system. The origin of the first relative coordinate system is the location of the second position point. The positive X-axis is the direction from the second position point to the fourth position point, the positive Y-axis is the direction from the fourth position point to the third position point, and the positive Z-axis is vertically upward. The fourth position point and the third position point are determined based on the drill bit position point, the first position point, and the second position point. The first calculation module is used to calculate each length information based on the established first relative coordinate system. The length information includes the length information from the second position point to the fourth position point, the length information from the fourth position point to the third position point, and the length information from the third position point to the drill bit position point. After calculating each length information, the initial value of the rope sensor is recorded. The second calculation module is used to calculate the second coordinate information of the drill bit position point in real time when the photovoltaic piling machine hits the target position after driving the test pile and hitting the target position, based on the calculated length information of the drill bit measurement system and the value recorded by the rope sensor. The first acquisition module is used to acquire the top coordinates of the test pile through RTK point marking after the photovoltaic piling machine has completed piling. The second acquisition module is used to back-calculate the position information of the compensation pile top based on the pile top coordinates of the test pile and the second coordinate information of the drill bit position point, using the method of transforming the measurement coordinate system into a relative coordinate system. The pile top position information acquisition module is used to acquire the position information of the drill bit and the top position information of the target pile when the photovoltaic piling machine is driving the target pile in real time based on the length information and the position information of the compensation pile top, so as to achieve the elevation alignment of each target pile.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 5.

Images