Full-automatic photovoltaic piling method

Abstract

The invention belongs to the technical field of engineering machinery, and particularly relates to a full-automatic photovoltaic piling method which comprises the following steps: S1, creating a three-dimensional terrain model of a construction site; s2, simulating a piling action and a photovoltaic module mounting action in the three-dimensional terrain model; s3, a high-precision map of the working environment of the pile driver is constructed, and the pile driver generates a moving path according to task requirements and current map information; s4, the pile driver recognizes the spatial position and posture of the pipe pile; s5, the pile driver performs automatic pile driving action; and S6, the insertion depth of the pipe pile is detected, the perpendicularity of the pipe pile is detected and recorded in real time, and the piling action of the hydraulic arm is driven and corrected according to the perpendicularity data change. By integrating multiple advanced technologies, high automation and intelligence of photovoltaic piling operation are achieved, a large amount of labor cost can be saved for a photovoltaic installation project, and the construction efficiency is improved. The one-time pile forming qualified rate is increased, the working efficiency and precision are improved, and meanwhile the labor cost and the safety risk are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering machinery, and in particular relates to a fully automatic photovoltaic piling method. Background Art

[0002] With the rapid development of the photovoltaic industry, the construction scale of photovoltaic power stations is expanding, which puts higher requirements on the efficiency and accuracy of piling operations. Traditional piling operations rely on manual operations, and have problems such as high labor intensity, low efficiency, and difficulty in ensuring accuracy.

[0003] 1. Complex on-site environment: Due to the fluctuating photovoltaic on-site environment, the design positioning and fixed point cannot be accurately designed, resulting in deviations in the actual pile position.

[0004] 2. Low efficiency: Manual operation is limited by physical strength, skills and experience, making it difficult to achieve efficient and continuous piling operations.

[0005] 3. Accuracy is difficult to guarantee: Traditional piling methods often rely on the workers’ experience and judgment, and are prone to problems such as pile position deviation and insufficient verticality, which affect the overall stability and power generation efficiency of the photovoltaic power station.

[0006] 4. High safety risk: There are safety hazards such as mechanical injury and electric shock in the manual piling process, which pose a threat to the life safety of workers.

[0007] The present invention designs a fully automatic photovoltaic piling method to solve the above problems. Summary of the invention

[0008] In order to achieve the above object, the present invention adopts the following technical solutions: A fully automatic photovoltaic piling method, comprising: S1: Create a 3D terrain model of the construction site, match and calibrate the 3D terrain model with the CAD design drawing to keep the coordinate system and scale of the two consistent; S2: Simulate the piling action and PV module installation action in the 3D terrain model, detect whether there is a possible collision between the workpiece, equipment and the terrain or other buildings and structures, and present the simulation results in a 3D visualization way; S3: Build a high-precision map of the pile driver's working environment. The pile driver generates an efficient, collision-free, and dynamically constrained path based on task requirements and current map information. S4: The pile driver collects 3D point cloud data, image information, and distance information of the surrounding environment in real time to identify the spatial position and posture of the pile; S5: The pile driver plans the moving path of the hydraulic arm, the hydraulic arm clamps the pipe pile, moves the pipe pile to a preset position, and inserts the pipe pile into the foundation; S6: Detect the insertion depth of the pile, detect and record the verticality of the pile in real time, and modify the piling action of the hydraulic arm according to the change of the verticality data.

[0009] As a preferred solution, in step S1, a drone is used to photograph the construction site, and the photographed data is preliminarily processed, including image denoising, geometric correction, radiation correction, etc. Feature extraction, matching and aerial triangulation are performed on the preprocessed image data to generate high-precision three-dimensional point cloud data, and the point cloud data is converted into a three-dimensional terrain model.

[0010] As a preferred solution, in step S2, a topographic profile of the pile foundation position is generated in the three-dimensional terrain model to calibrate the pile foundation position.

[0011] As a preferred solution, in step S3, the pile driver uses Beidou navigation, inertial navigation and other positioning modules to achieve positioning, and builds a high-precision map through sensors such as lidar and cameras.

[0012] As a preferred solution, in step S4, the pile driver uses laser radar, camera, ultrasonic sensor and other equipment to collect three-dimensional point cloud data, image information and distance information of the surrounding environment of the pile driver in real time.

[0013] As a preferred solution, in step S4, the pile driver uses image processing technology to extract characteristic information such as shape, color, texture, etc. of the pipe pile to identify the pipe pile, and uses image processing or point cloud analysis technology to determine the exact position of the pipe pile in three-dimensional space, and determine the spatial position and posture of the pipe pile.

[0014] As a preferred solution, in step S5, the moving path of the hydraulic arm is planned according to the surrounding environment, obstacles and the structure of the pile driver itself.

[0015] As a preferred solution, in step S6, the verticality of the pipe pile is continuously monitored using a horizontal verticality monitoring device, and the monitoring data is recorded. According to the changes in the detection data, abnormal situations are discovered and processed, and the insertion results are fed back to the user.

[0016] Compared with the prior art, the advantages of the present invention are: 1. The present invention integrates multiple advanced technologies to achieve high automation and intelligence of photovoltaic piling operations, which can save a lot of labor costs for photovoltaic installation projects, improve the one-time pile qualification rate, improve operation efficiency and accuracy, and reduce labor costs and safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of the working method of the present invention. DETAILED DESCRIPTION

[0018] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples or drawings are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0019] A fully automatic photovoltaic piling method, comprising: S1: Create a 3D terrain model of the construction site, match and calibrate the 3D terrain model with the CAD design drawing to keep the coordinate system and scale of the two consistent; Use drones to photograph the construction site, fly according to the planned route, and photograph the construction terrain from multiple angles. During the shooting process, monitor the flight status of the drone and the working status of the camera in real time to ensure the quality and accuracy of data collection; The captured data is preliminarily processed, including image denoising, geometric correction, radiation correction, etc. The preprocessed image data is subjected to feature extraction, matching and aerial triangulation to generate high-precision three-dimensional point cloud data. The point cloud data is converted into a three-dimensional terrain model, and smoothing and simplification are performed to reduce the amount of data and improve the readability of the model.

[0020] S2: Simulate the piling action and PV panel installation action in the 3D terrain model to detect whether there is a possible collision between the workpiece, equipment and the terrain or other buildings and structures, and present the simulation results in a 3D visualization to clearly show the potential collision location and its severity; Based on the preset design specifications and standards, mechanical analysis and numerical calculation methods are used to analyze and evaluate the design parameters of the pile foundation, such as the soil depth and support angle, to verify whether they meet the specified requirements. A topographic profile of the pile foundation position is generated in the three-dimensional terrain model, and the pile foundation position is calibrated. Combined with the design requirements and the topographic profile, the initially selected pile foundation position is calibrated and optimized to ensure that the final pile foundation layout meets both the design specifications and the actual construction conditions.

[0021] S3: Build a high-precision map of the pile driver's working environment. The pile driver generates an efficient, collision-free, and dynamically constrained path based on task requirements and current map information. The pile driver uses Beidou navigation, inertial navigation and other positioning modules to achieve positioning. Based on the positioning information, a high-precision map of the pile driver's working environment is constructed through sensors such as lidar and cameras. This map is not only used for path planning, but also provides basic data for subsequent posture recognition and review. Through the planning and control module, the most efficient, collision-free and dynamic constraint-compliant path is generated according to task requirements and current map information.

[0022] S4: The pile driver collects 3D point cloud data, image information, and distance information of the surrounding environment in real time to identify the spatial position and posture of the pile; The pile driver uses laser radar, cameras, ultrasonic sensors and other equipment to collect three-dimensional point cloud data, image information and distance information of the pile driver's surrounding environment in real time; The pile driver uses image processing technology to extract the shape, color, texture and other characteristic information of the pipe pile to identify the pipe pile, and uses image processing or point cloud analysis technology to determine the exact position of the pipe pile in three-dimensional space, and determine the spatial position and posture of the pipe pile; Accurately determine the spatial position and posture of the pile, and evaluate the current state of the target pile, such as verticality, inclination angle and other data, to ensure the accuracy of the piling operation during the movement.

[0023] S5: The pile driver plans the moving path of the hydraulic arm, the hydraulic arm clamps the pipe pile, moves the pipe pile to a preset position, and inserts the pipe pile into the foundation; After determining the position and insertion point of the pipe pile, plan the movement path of the hydraulic arm according to the surrounding environment, obstacles and the structure of the pile driver itself. According to the planned path, control the hydraulic arm to move to the designated pipe pile position and prepare for the clamping operation. Use the clamping device on the hydraulic arm to stably clamp the pipe pile and prepare to move it to the insertion position. After successfully clamping the pipe pile, control the hydraulic arm to move it above or to the side of the preset insertion position and prepare for the insertion operation. Finally, control the hydraulic arm to slowly and stably insert the pipe pile into the foundation.

[0024] S6: Detect the insertion depth of the pile, detect and record the verticality of the pile in real time, and modify the piling action of the hydraulic arm according to the change of the verticality data; After the insertion of the pipe pile, the high-level information of the pile body is used to check whether the pipe pile has been inserted to the predetermined depth as required by the design. The horizontal and vertical monitoring equipment is used to continuously monitor the verticality of the pipe pile and record the monitoring data. According to the changes in the detection data, abnormal situations are discovered and handled, and the insertion results are fed back to the user.

[0025] Real-time monitoring of the operating status of equipment such as pile drivers and drones, including position, posture, speed, etc. Automatically generate the optimal scheduling plan based on the job requirements and actual site conditions to achieve collaborative operations between equipment and improve overall operating efficiency. Through its own data analysis algorithm, predict key indicators such as job progress, equipment performance, and safety risks to provide data support and scientific basis for decision-making. Remote control and command issuance, support remote control of equipment such as pile drivers and drones, issue scheduling instructions and operation instructions, and ensure that the equipment performs operations according to the predetermined plan. Information management and report generation, manage equipment information, personnel information, operation records and other data at the job site, and generate various reports and reports, such as job progress reports, equipment performance reports, safety risk reports, etc.

[0026] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A fully automatic photovoltaic piling method, characterized in that: include: S1: Create a 3D terrain model of the construction site, match and calibrate the 3D terrain model with the CAD design drawing to keep the coordinate system and scale of the two consistent; S2: Simulate the piling action and PV module installation action in the 3D terrain model, detect whether there is a possible collision between the workpiece, equipment and the terrain or other buildings and structures, and present the simulation results in a 3D visualization way; S3: Build a high-precision map of the pile driver's working environment. The pile driver generates an efficient, collision-free, and dynamically constrained path based on task requirements and current map information. S4: The pile driver collects 3D point cloud data, image information, and distance information of the surrounding environment in real time to identify the spatial position and posture of the pile; S5: The pile driver plans the moving path of the hydraulic arm, the hydraulic arm clamps the pipe pile, moves the pipe pile to a preset position, and inserts the pipe pile into the foundation; S6: Detect the insertion depth of the pile, detect and record the verticality of the pile in real time, and modify the piling action of the hydraulic arm according to the change of the verticality data.

2. A fully automatic photovoltaic piling method according to claim 1, characterized in that: In step S1, a drone is used to photograph the construction site, and the photographed data is preliminarily processed, including image denoising, geometric correction, radiation correction, etc. Feature extraction, matching and aerial triangulation are performed on the preprocessed image data to generate high-precision three-dimensional point cloud data, and the point cloud data is converted into a three-dimensional terrain model.

3. A fully automatic photovoltaic piling method according to claim 1, characterized in that: In step S2, a topographic profile of the pile foundation position is generated in the three-dimensional terrain model to calibrate the pile foundation position.

4. A fully automatic photovoltaic piling method according to claim 1, characterized in that: In step S3, the pile driver uses Beidou navigation, inertial navigation and other positioning modules to achieve positioning, and builds a high-precision map through sensors such as lidar and cameras.

5. A fully automatic photovoltaic piling method according to claim 1, characterized in that: In step S4, the pile driver uses laser radar, camera, ultrasonic sensor and other equipment to collect three-dimensional point cloud data, image information and distance information of the surrounding environment of the pile driver in real time.

6. A fully automatic photovoltaic piling method according to claim 5, characterized in that: In step S4, the pile driver uses image processing technology to extract characteristic information such as shape, color, texture, etc. of the pipe pile to identify the pipe pile, and uses image processing or point cloud analysis technology to determine the exact position of the pipe pile in three-dimensional space, and determine the spatial position and posture of the pipe pile.

7. A fully automatic photovoltaic piling method according to claim 1, characterized in that: In step S5, the moving path of the hydraulic arm is planned according to the surrounding environment, obstacles and the structure of the pile driver itself.

8. A fully automatic photovoltaic piling method according to claim 1, characterized in that: In step S6, the verticality of the pipe pile is continuously monitored using a horizontal verticality monitoring device, and the monitoring data is recorded. According to the changes in the detection data, abnormal situations are discovered and handled, and the insertion results are fed back to the user.

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