Photovoltaic support pile position coordinate positioning method and system suitable for mountain terrain

Abstract

The invention provides a photovoltaic support pile position coordinate positioning method and system suitable for mountain topography. The method comprises the steps that the center position of a photovoltaic support structure to be constructed is determined; a real-time dynamic difference technology is adopted to measure topographic representation conditions in the range of a photovoltaic support to be constructed and judge the south-north rotation angle and the east-west rotation angle of the photovoltaic support, so that coordinate points of a pile position point rotate around the X axis and the Y axis when the photovoltaic support to be constructed is horizontally placed, and point position coordinates after the coordinate points rotate around the X axis and the Y axis are obtained; and finally, obtaining the pile position coordinates of the photovoltaic bracket to be constructed. According to the method, support pile position coordinates are accurately calculated based on micro-topographic data measured on site, the problem of photovoltaic support installation in a complex mountain environment is solved, high-precision and high-efficiency construction is achieved, construction risks are reduced, the overall construction quality of a photovoltaic power station is ensured, reliable data support is provided for smooth implementation of a project, and the method is suitable for popularization and application. And powerful technical support is provided for construction of a photovoltaic power station.

Description

Technical Field

[0001] The present invention belongs to the technical field of new energy, and relates to a positioning method and system for the pile position coordinates of a photovoltaic support. Background Art

[0002] With the advancement of the global energy transformation, photovoltaic power generation has become an important way for countries to reduce carbon emissions. In the construction of large-scale photovoltaic power stations in China, in order to protect cultivated land and high-quality land resources, the land used for photovoltaic projects has gradually shifted from plains to mountains. As a result, at present, many projects are designed and constructed for photovoltaic projects in mountainous areas with complex terrain and large slopes. As a key infrastructure for carrying photovoltaic modules, the installation accuracy and construction efficiency of photovoltaic supports are directly related to the power generation efficiency, stability and service life of the entire photovoltaic system.

[0003] However, in the positioning of the pile position coordinates of photovoltaic supports in mountainous terrain, if the traditional point setting calculation method is used, it will cause the tops of the columns of the photovoltaic supports not to be on the same plane after installation, which will further cause the photovoltaic supports to be unable to be installed or the installation inclination angle not to meet the design requirements, resulting in the inability to accurately install the photovoltaic supports under complex mountainous terrain conditions and greatly reducing the overall construction efficiency of the project. Summary of the Invention

[0004] To solve the problems of inaccurate installation and low construction efficiency of photovoltaic supports in mountainous terrain described in the background art, the present invention provides a positioning method and system for the pile position coordinates of photovoltaic supports suitable for mountainous terrain.

[0005] The method of the present invention includes the following steps:

[0006] S1. According to the design drawings of the photovoltaic power station, use real-time kinematic differential technology to determine the central position of the photovoltaic support structure to be constructed;

[0007] S2. Use real-time kinematic differential technology to measure the representative terrain conditions within the range of the photovoltaic support to be constructed, and calculate the north-south slope and east-west slope of the terrain within the range of the photovoltaic support to be constructed;

[0008] S3. According to the design drawings of the photovoltaic power station, combine the north-south slope and east-west slope of the terrain within the range of the photovoltaic support to be constructed, and calculate and judge the north-south rotation angle and east-west rotation angle of the photovoltaic support;

[0009] S4. Combine the design drawings of the photovoltaic power station and the central position of the photovoltaic support structure to be constructed to determine the coordinates of the pile points when the photovoltaic support to be constructed is placed horizontally;

[0010] S5. According to the north-south rotation angle and east-west rotation angle of the photovoltaic support, rotate the coordinates of the pile points when the photovoltaic support to be constructed is horizontally placed around the X-axis and Y-axis to obtain the point coordinates after rotation around the X and Y axes;

[0011] S6. Taking the center position of the photovoltaic support structure to be constructed as the reference point, translate the point coordinates after rotation around the X and Y axes to the center point coordinates of the photovoltaic support to be placed, and obtain the pile position coordinates of the photovoltaic support to be constructed.

[0012] Further, in S2, assume that the coordinates of three points within the range of the photovoltaic support to be constructed measured by the real-time kinematic differential technology are P1(X1, Y1, Z1), P2(X2, Y2, Z2), and P3(X3, Y3, Z3) respectively. The normal vector representing the terrain plane slope and aspect is:

[0013]

[0014] In the formula, the normal vector is taken upward, that is, C>0;

[0015] The north-south slope α0 and east-west slope β0 of the plane are calculated through the normal vector of the plane, and the expression is as follows:

[0016]

[0017] In the formula, the north-south slope α0 and east-west slope β0 of the plane are the angles between the plane and the x-axis and y-axis respectively. The positive and negative of the α0 angle represent the south slope and north slope respectively, and the positive and negative of the β0 angle represent the west slope and east slope respectively.

[0018] Furthermore, in S3, the north-south rotation angle of the photovoltaic support is the rotation angle α around the X-axis, and α needs to be judged according to the following conditions:

[0019] Let the predetermined inclination angle of the support on flat ground be t, and the limit of the adjustable length of the pile length compared to the height of the support center from the ground be L. For the south slope, the north-south slope α0 of the plane >0, then there is:

[0020]

[0021] If the photovoltaic support is to be installed at an inclination angle t, the following conditions need to be met:

[0022] h2 - h1 ≤ L(6),

[0023] Get:

[0024]

[0025] For the north slope, the north-south slope α0 of the plane <0, then there is:

[0026]

[0027] If the photovoltaic support is to be installed at an inclination angle t, the following conditions need to be met:

[0028] h2 + h1 ≤ L(8),

[0029] Obtained:

[0030]

[0031] In summary, when the rotation direction of the photovoltaic support around the north-south direction can be taken as the flat ground inclination angle t, that is, α = t;

[0032] When or if the photovoltaic support still maintains the inclination angle t, the pile length is not within the adjustable range. At this time, the photovoltaic support needs to be arranged along the slope angle α0, that is, α = α0.

[0033] The north-south rotation angle of the photovoltaic support is the rotation angle β around the Y-axis, β = β0.

[0034] Furthermore, in S4, when the photovoltaic support to be constructed is placed horizontally, let the number of the rear row piles be M 11 、M 12 、M 13 ……M 1a , and the number of the front row piles be M 21 、M 22 、M 23 ……M 2a , M 11 M 12 The length is m, and the projected length of M 11 M 21 is n. The center point coordinates of the support are set as M0(0,0,0). Where a is the number of pile site columns on the support, and a ≥ 2, then the coordinates of the pile site M ij are expressed as:

[0035]

[0036] where i represents the row where the pile site is located, i = 1, 2, ……, a, and j represents the column where the pile site is located, j = 1, 2.

[0037] Furthermore, in S5, by using matrix operations, the result after rotating α angles around the X-axis is obtained: The result after rotating α angles around the X-axis:

[0038]

[0039] Then rotate it by an angle of β around the Y-axis, and use matrix operations to obtain the coordinate results of the points after rotation around the X and Y axes:

[0040]

[0041] Furthermore, in S6, taking the center position of the photovoltaic support structure to be constructed as the reference point, translate the coordinate points after rotation around the X and Y axes to the coordinates of the center point of the support to be placed, then the coordinates can be read and the points can be set. Assume that the coordinates of the center point of the photovoltaic support are (x0, y0, z0), and let any coordinate point on the photovoltaic support be P ij , then there is P ij = M ij +(x0, y0, z0), that is:

[0042]

[0043] Based on the above method, the present invention proposes a photovoltaic support pile position coordinate positioning system suitable for mountainous terrain, including a center position determination module of the photovoltaic support structure, a slope calculation module, a rotation angle calculation module, a horizontal coordinate determination module, a point coordinate calculation module after rotation, and a photovoltaic support pile position coordinate calculation module;

[0044] The center position determination module of the photovoltaic support structure is used to determine the center position of the photovoltaic support structure to be constructed according to the design drawings of the photovoltaic power station by using the real-time kinematic differential technology;

[0045] The slope calculation module measures the representative situation of the terrain within the range of the photovoltaic support to be constructed by using the real-time kinematic differential technology, and calculates the north-south slope and east-west slope of the terrain within the range of the photovoltaic support to be constructed;

[0046] The rotation angle calculation module calculates and judges the north-south rotation angle and east-west rotation angle of the photovoltaic support according to the design drawings of the photovoltaic power station and in combination with the north-south slope and east-west slope of the terrain within the range of the photovoltaic support to be constructed;

[0047] The horizontal coordinate determination module is used to determine the coordinates of the pile points when the photovoltaic support to be constructed is placed horizontally in combination with the design drawings of the photovoltaic power station and the center position of the photovoltaic support structure to be constructed;

[0048] The point coordinate calculation module after rotation is used to rotate the coordinates of the pile points when the photovoltaic support to be constructed is placed horizontally around the X-axis and Y-axis according to the north-south rotation angle and east-west rotation angle of the photovoltaic support, and obtain the point coordinates after rotation around the X and Y axes;

[0049] The photovoltaic support pile position coordinate calculation module is used to take the central position of the to-be-constructed photovoltaic support structure as the reference point, translate the point coordinates after rotation around the X and Y axes to the central point coordinates of the photovoltaic support to be placed, and obtain the pile position coordinates of the to-be-constructed photovoltaic support.

[0050] The present invention also proposes an electronic device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor realizes a method for positioning the pile position coordinates of a photovoltaic support applicable to mountainous terrain as described above by executing the computer instructions.

[0051] The present invention also proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it realizes a method for positioning the pile position coordinates of a photovoltaic support applicable to mountainous terrain as described above.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] (1) High-precision positioning: Determine the central position of the photovoltaic support structure through the real-time kinematic (RTK) technology, and combine with the terrain slope data to accurately calculate the north-south and east-west rotation angles of the support, ensuring the accuracy of the support installation position;

[0054] (2) Terrain adaptability: This method can effectively cope with the micro-topographic changes in complex mountain environments. By measuring the north-south slope and east-west slope of the terrain and combining with the design drawings, the coordinates of the support pile positions are calculated in real time to ensure the precise installation of the support under different terrain conditions;

[0055] (3) Improvement of construction efficiency: By calculating the coordinates of the support pile positions on-site in real time, the layout attitude of the support on the slope is visually displayed, avoiding the cumbersome process of repeated measurement and adjustment in traditional construction, ensuring that the support installation meets the design standards, effectively avoiding the risk of rework caused by installation errors during the construction process, significantly improving the construction efficiency, shortening the installation cycle, and reducing the construction cost.

[0056] Generally speaking, relying on the micro-topographic data measured on-site, the present invention accurately calculates the coordinates of the support pile positions, solves the problem of photovoltaic support installation in complex mountain environments, realizes high-precision and high-efficiency construction, reduces the construction risk, ensures the overall construction quality of the photovoltaic power station, provides reliable data support for the smooth implementation of the project, and provides strong technical support for the construction of the photovoltaic power station. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a flowchart of the method of the present invention.

[0058] Figure 2 It is a schematic diagram of the support pile positions and measuring points.

[0059] Figure 3 It is a right - hand sectional view of the photovoltaic support on the south slope.

[0060] Figure 4 It is a right - hand sectional view of the photovoltaic support on the north slope.

[0061] Figure 5 It is a pile position map of the photovoltaic support in the horizontal plane.

[0062] Figure 6 It is a system architecture diagram of the present invention. Detailed implementation manners

[0063] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] Embodiment 1

[0065] A method for positioning the pile position coordinates of a photovoltaic support applicable to mountainous terrain, the flow chart is as Figure 1 shown, and the specific steps are as follows.

[0066] In this embodiment, the foundation form of the photovoltaic support pile position: six columns of double columns, that is, a = 6; the north - south distance between columns: n = 2402mm; the east - west distance between columns: m = 3100mm; the support inclination angle: t = 5°; the allowable adjustment length L of the distance between the pile column and the ground relative to the center of the support is 0.2m.

[0067] S1. According to the design drawings of the photovoltaic power station, use the real - time kinematic differential technology to determine the center position of the photovoltaic support structure to be constructed.

[0068] During the actual installation process, ensure that the center coordinates of the photovoltaic support structure remain unchanged.

[0069] S2. Use the real - time kinematic differential technology to measure the representative terrain conditions within the range of the photovoltaic support to be constructed, and calculate the north - south slope and east - west slope of the terrain within the range of the photovoltaic support to be constructed.

[0070] Specifically, assume that the coordinates of three points measured by the real - time kinematic differential technology within the range of the photovoltaic support to be constructed are P1(X1, Y1, Z1), P2(X2, Y2, Z2) and P3(X3, Y3, Z3) respectively. The normal vector representing the plane slope and slope direction of the representative terrain is:

[0071]

[0072] In the formula, the normal vector is taken upward, i.e., C>0;

[0073] The north-south slope α0 and the east-west slope β0 of the plane are calculated through the normal vector of the plane and the expressions are as follows:

[0074]

[0075] In the formula, the north-south slope α0 and the east-west slope β0 of the plane are the angles between the plane and the x-axis and y-axis respectively. The positive and negative of the α0 angle represent the south slope and the north slope respectively, and the positive and negative of the β0 angle represent the west slope and the east slope respectively.

[0076] In this embodiment, as Figure 2 shown, the coordinates of 3 non-collinear points P1(X1, Y1, Z1), P2(X2, Y2, Z2) and P3(X3, Y3, Z3) on the slope surface are measured (after a certain translation process of the actual coordinates), and they are respectively:

[0077] P1(893.6630, 29.2420, 102.0000),

[0078] P2(899.0896, 25.3385, 101.0000),

[0079] P3(904.1308, 27.9483, 99.0000).

[0080] Calculate the normal vector of the plane

[0081]

[0082] Obtain the north-south slope angle α0 and the east-west slope angle β0:

[0083]

[0084] That is, the terrain within the range of the photovoltaic support is a north slope of 9.42° and an east slope of 17.05°.

[0085] S3. According to the design drawings of the photovoltaic power station, combined with the north-south slope and the east-west slope of the terrain within the range of the photovoltaic support to be constructed, calculate and judge the north-south rotation angle and the east-west rotation angle of the photovoltaic support.

[0086] Specifically, the north-south rotation angle of the photovoltaic support is the rotation angle α around the X-axis, and α needs to be judged according to the following conditions:

[0087] Let the predetermined inclination angle of the support on flat ground be t, and the limit of the adjustable length of the pile length compared to the height from the ground at the center of the support be L. As Figure 3 shown, for the south slope, the north-south slope α0 of the plane >0, then there is:

[0088]

[0089]

[0090] If the photovoltaic support is to be installed at an inclination angle t, the following conditions need to be met:

[0091] h2 - h1 ≤ L(6),

[0092] Obtained:

[0093]

[0094] For the north slope, as Figure 4 shown, the north-south slope α0 of the plane < 0, then there is:

[0095]

[0096] If the photovoltaic support is to be installed at an inclination angle t, the following conditions need to be met:

[0097] h2 + h1 ≤ L(8),

[0098] Obtained:

[0099]

[0100] In summary, when , the rotation direction of the photovoltaic support around the north-south direction can be taken as the flat ground inclination angle t, that is, α = t;

[0101] When or , if the photovoltaic support still maintains the inclination angle t, the pile length is not within the adjustable range. At this time, the photovoltaic support needs to be arranged along the slope angle α0, that is, α = α0.

[0102] The north-south rotation angle of the photovoltaic support is the rotation angle β around the Y-axis, β = β0.

[0103] In this embodiment, the support inclination angle is set: t = 5°, and the allowable adjustment length L of the distance from the pile column to the ground relative to the center of the support is 0.2 m.

[0104]

[0105]

[0106] Here Therefore, the north-south direction cannot be arranged at an inclination angle of 5°. The rotation angle of the photovoltaic support in the north-south direction is α = α0 = -9.42°. The rotation angle in the east-west direction is β = β0 = -17.05°.

[0107] S4. Combine the design drawings of the photovoltaic power station and the central position of the photovoltaic support structure to be constructed, and determine the coordinates of the pile points when the photovoltaic support to be constructed is horizontally placed.

[0108] Specifically, as Figure 5 shown, when the photovoltaic support to be constructed is horizontally placed, let the rear row pile numbers be M 11 , M 12 , M 13 ... M 1a , and the front row pile numbers be M 21 , M 22 , M 23 ... M 2a , M 11 M 12 with a length of m, and the projection length of M 11 M 21 being n. Let the center point coordinates of the support be M0(0, 0, 0). Where a is the number of columns of pile points on the support and a ≥ 2, then the coordinates of the pile point M ij are expressed as:

[0109]

[0110] where i represents the row where the pile point is located, i = 1, 2,..., a, and j represents the column where the pile point is located, j = 1, 2.

[0111] More specifically, the coordinates of the pile points are as follows:

[0112] Coordinates of the rear row piles:

[0113] Coordinates of the front row piles:

[0114] In this embodiment, first assume that the center coordinates are M0(0, 0, 0). In this example, a = 6, n = 2.402m, and m = 3.1m. Thus, the pile position coordinates of each point can be calculated through the following formula: where i = 1, 2,..., 6 and j = 1, 2. Then the coordinates of the pile points are as follows:

[0115] M 11 (-7.750, 1.201, 0)M 12 (-7.750, -1.201, 0)

[0116] M 21 (-4.650, 1.201, 0)M 22 (-4.650, -1.201, 0)

[0117] M 31(-1.550, 1.201, 0)M 32 (-1.550, -1.201, 0)

[0118] M 41 (1.550, 1.201, 0)M 42 (1.550, -1.201, 0)

[0119] M 51 (4.650, 1.201, 0)M 52 (4.650, -1.201, 0)

[0120] M 61 (7.750, 1.201, 0)M 62 (7.750, -1.201, 0).

[0121] S5. According to the north-south rotation angle and east-west rotation angle of the photovoltaic support, the coordinates of the pile points when the photovoltaic support to be constructed is horizontally placed are rotated around the X-axis and Y-axis to obtain the point coordinates after rotation around the X and Y axes.

[0122] Specifically, by using matrix operations, it is obtained that The result after rotating by α angle around the X-axis:

[0123]

[0124] Then rotate it by β angle around the Y-axis, and use matrix operations to obtain the point coordinate result after rotation around the X and Y axes:

[0125]

[0126] In this embodiment, after the coordinate point is rotated around the X-axis and Y-axis, it is obtained that

[0127]

[0128]

[0129] S6. Taking the center position of the photovoltaic support structure to be constructed as the reference point, translate the point coordinates after rotation around the X and Y axes to the center point coordinates of the photovoltaic support to be placed, and obtain the pile position coordinates of the photovoltaic support to be constructed.

[0130] Specifically, taking the center position of the photovoltaic support structure to be constructed as the reference point, translate the point coordinates after rotation around the X and Y axes to the center point coordinates of the support to be placed, then the coordinates can be read and the points can be set. Assuming the center point coordinates of the photovoltaic support are (x0, y0, z0), and let any coordinate point on the photovoltaic support be P ij , then there is P ij = Mij +(x0, y0, z0), that is:

[0131]

[0132] In this embodiment, the central point coordinates (x0, y0, z0) of the bracket are (897.3368, 27.4864, 104.2501), and any coordinate point P on the bracket ij = M ij +(x0, y0, z0):

[0133]

[0134] Embodiment 2

[0135] A photovoltaic bracket pile position coordinate positioning system applicable to mountainous terrain, the architecture diagram is as Figure 6 shown, and it is composed of a central position determination module of the photovoltaic bracket structure, a slope calculation module, a rotation angle calculation module, a horizontal coordinate determination module, a rotated point position coordinate calculation module, and a photovoltaic bracket pile position coordinate calculation module.

[0136] The central position determination module of the photovoltaic bracket structure is used to determine the central position of the photovoltaic bracket structure to be constructed based on the design drawings of the photovoltaic power station by using real-time kinematic differential technology.

[0137] The slope calculation module measures the representative situation of the terrain within the range of the photovoltaic bracket to be constructed by using real-time kinematic differential technology, and calculates the north-south slope and east-west slope of the terrain within the range of the photovoltaic bracket to be constructed.

[0138] The rotation angle calculation module calculates and judges the north-south rotation angle and east-west rotation angle of the photovoltaic bracket based on the design drawings of the photovoltaic power station and in combination with the north-south slope and east-west slope of the terrain within the range of the photovoltaic bracket to be constructed.

[0139] The horizontal coordinate determination module is used to determine the coordinates of the pile points when the photovoltaic bracket to be constructed is placed horizontally in combination with the design drawings of the photovoltaic power station and the central position of the photovoltaic bracket structure to be constructed.

[0140] The rotated point position coordinate calculation module is used to rotate the coordinates of the pile points when the photovoltaic bracket to be constructed is placed horizontally around the X-axis and Y-axis according to the north-south rotation angle and east-west rotation angle of the photovoltaic bracket, and obtain the point position coordinates after rotation around the X and Y axes.

[0141] The photovoltaic bracket pile position coordinate calculation module is used to take the central position of the photovoltaic bracket structure to be constructed as the reference point, and translate the point position coordinates after rotation around the X and Y axes to the central point coordinates of the photovoltaic bracket to be placed as required, and obtain the photovoltaic bracket pile position coordinates to be constructed.

[0142] The specific implementation manners of each module in this system are the same as those described in Embodiment 1, and will not be elaborated here.

[0143] Embodiment 3

[0144] An electronic device includes: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor realizes a method for positioning the pile position coordinates of a photovoltaic support applicable to mountainous terrain as described in Embodiment 1 above, and a system for positioning the pile position coordinates of a photovoltaic support applicable to mountainous terrain as described in Embodiment 2 by executing the computer instructions.

[0145] Embodiment 4

[0146] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it realizes a method for positioning the pile position coordinates of a photovoltaic support applicable to mountainous terrain as described in Embodiment 1 above, and a system for positioning the pile position coordinates of a photovoltaic support applicable to mountainous terrain as described in Embodiment 2.

[0147] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code. The solutions in the embodiments of the present application can be implemented in various computer languages. For example, object-oriented programming languages such as Java, C++, Python, and the interpreted scripting language JavaScript, etc.

[0148] The present application is described with reference to the flowcharts and / or block diagrams of methods, electronic devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowcharts and / or block diagrams, and the combination of processes and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing electronic devices to generate a machine, so that the instructions executed by the processors of the computer or other programmable data processing electronic devices generate means for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0149] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing electronic device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more processes and / or blocks Figure 1 in one or more processes and / or blocks Figure 1 specified in the function.

[0150] These computer program instructions can also be loaded onto a computer or other programmable data processing electronic device, such that a series of operation steps are performed on the computer or other programmable electronic device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable electronic device provide steps for implementing the functions specified in one or more processes and / or blocks Figure 1 in one or more processes and / or blocks Figure 1 specified in the function of one or more blocks.

[0151] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0152] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A photovoltaic support pile position coordinate positioning method suitable for mountainous terrain, characterized in that: The following steps are involved: S1. According to the design drawings of the photovoltaic power station, the center position of the photovoltaic support structure to be constructed is determined by using real-time dynamic difference technology; S2. Use real-time dynamic differential technology to measure the representative terrain conditions within the scope of the photovoltaic support to be constructed, and calculate the north-south slope and east-west slope of the terrain within the scope of the photovoltaic support to be constructed; S3. Calculate and determine the north-south rotation angle and the east-west rotation angle of the photovoltaic support according to the design drawings of the photovoltaic power station and the north-south slope and the east-west slope of the terrain within the scope of the photovoltaic support to be constructed; S4. Determine the coordinates of the pile position of the photovoltaic support to be constructed when it is placed horizontally, based on the design drawings of the photovoltaic power station and the center position of the photovoltaic support structure to be constructed; S5. According to the north-south rotation angle and the east-west rotation angle of the photovoltaic bracket, the coordinates of the pile position of the photovoltaic bracket to be constructed when it is placed horizontally are rotated around the X-axis and the Y-axis to obtain the coordinates of the point after rotation around the X-axis and the Y-axis; S6. Taking the center position of the photovoltaic support structure to be constructed as the reference point, the point coordinates rotated around the X and Y axes are translated to the center point coordinates of the photovoltaic support to be placed, and the pile position coordinates of the photovoltaic support to be constructed are obtained.

2. The method for locating the photovoltaic support pile position coordinates suitable for mountainous terrain according to claim 1, characterized in that: In S2, it is assumed that the coordinates of the three points within the range of the photovoltaic support to be constructed are measured by real-time dynamic differential technology, namely P1 (X1, Y1, Z1), P2 (X2, Y2, Z2) and P3 (X3, Y3, Z3), and the normal vector representing the slope and slope direction of the terrain plane is for: In the formula, the normal vector is oriented upward, that is, C>0; The north-south slope α0 and the east-west slope β0 of the plane pass through the normal vector of the plane To calculate, the expression is as follows: In the formula, the north-south slope α0 and the east-west slope β0 of the plane are the angles between the plane and the x-axis and y-axis. The positive and negative angles of α0 represent the south slope and the north slope, respectively, and the positive and negative angles of β0 represent the west slope and the east slope, respectively.

3. The method for locating the photovoltaic support pile position coordinates suitable for mountainous terrain according to claim 1, characterized in that: In S3, the north-south rotation angle of the photovoltaic bracket is the rotation angle α around the X-axis, and α needs to be determined according to the following conditions: Assume that the predetermined inclination angle of the support on the ground is t, and the adjustable length limit of the pile length relative to the center of the support is L. For the south slope, the north-south slope of the plane α0>0, then: If the photovoltaic bracket is to be installed at an inclination angle t, the following conditions must be met: h2-h1≤L(6), get: For the north slope, the north-south slope of the plane α0<0, then: If the photovoltaic bracket is to be installed at an inclination angle t, the following conditions must be met: h2+h1≤L(8), get: In summary, when When the photovoltaic bracket rotates around the north-south direction, the inclination angle t of the flat ground can be taken as α = t; when or When the photovoltaic bracket still maintains the inclination angle t, the pile length is out of the adjustment range. At this time, the photovoltaic bracket needs to be arranged along the slope angle α0, that is, α=α0. The north-south rotation angle of the photovoltaic bracket is a rotation angle β around the Y axis, β=β0.

4. The method for locating the photovoltaic support pile position coordinates suitable for mountainous terrain according to claim 3 is characterized in that: In S4, when the photovoltaic support to be constructed is placed horizontally, the rear pile number M is set 11 、M 12 、M 13 ……M 1a , front row pile number M 21 、M 22 、M 23 ……M 2a , M 11 M 12 The length is m, M 11 M 21 The projection length is n, and the coordinates of the center point of the bracket are set to M0(0,0,0), where a is the number of pile point columns on the bracket, and a≥2, then the coordinates of the pile point M ij It is expressed as: Among them, i represents the row where the pile point is located, i=1,2,...,a, and j represents the column where the pile point is located, j=1,2.

5. The method for locating the photovoltaic support pile position coordinates suitable for mountainous terrain according to claim 4, characterized in that: In S5, matrix operations are applied to obtain The result after rotating around the X axis by an angle of α: Then rotate it around the Y axis by an angle of β, and use matrix operations to obtain the coordinates of the point after rotation around the X and Y axes:

6. The method for locating the coordinates of photovoltaic support piles suitable for mountainous terrain according to claim 5, characterized in that: In S6, the center position of the photovoltaic support structure to be constructed is taken as the reference point, and the coordinates of the point rotated around the X and Y axes are translated to the coordinates of the center point of the support to be placed, and the coordinates can be read and placed. Assuming that the coordinates of the center point of the photovoltaic support are (x0, y0, z0), any coordinate point on the photovoltaic support is set as P ij , then P ij =M ij +(x0,y0,z0), that is:

7. A photovoltaic support pile position coordinate positioning system suitable for mountainous terrain that implements the method described in any one of claims 1 to 6, characterized in that: It includes a photovoltaic support structure center position determination module, a slope calculation module, a rotation angle calculation module, a horizontal coordinate determination module, a rotated point position coordinate calculation module, and a photovoltaic support pile position coordinate calculation module; The photovoltaic support structure center position determination module is used to determine the center position of the photovoltaic support structure to be constructed using real-time dynamic difference technology based on the design drawings of the photovoltaic power station; The slope calculation module uses real-time dynamic difference technology to measure the representative terrain conditions within the scope of the photovoltaic support to be constructed, and calculates the north-south slope and the east-west slope of the terrain within the scope of the photovoltaic support to be constructed; The rotation angle calculation module calculates and determines the north-south rotation angle and the east-west rotation angle of the photovoltaic bracket according to the design drawings of the photovoltaic power station and the north-south slope and the east-west slope of the terrain within the scope of the photovoltaic bracket to be constructed; The horizontal coordinate determination module is used to determine the coordinates of the pile position of the photovoltaic support to be constructed when it is placed horizontally, based on the design drawings of the photovoltaic power station and the center position of the photovoltaic support structure to be constructed; The rotated point coordinate calculation module is used to rotate the coordinates of the pile position of the photovoltaic support to be constructed when it is placed horizontally around the X-axis and the Y-axis according to the north-south rotation angle and the east-west rotation angle of the photovoltaic support, and obtain the point coordinates after rotation around the X-axis and the Y-axis; The photovoltaic support pile position coordinate calculation module is used to use the center position of the photovoltaic support structure to be constructed as the reference point, translate the point coordinates rotated around the X and Y axes to the center point coordinates of the photovoltaic support to be placed, and obtain the pile position coordinates of the photovoltaic support to be constructed.

8. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to implement a method for quickly locating the pile coordinates of a photovoltaic support as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, a method for quickly locating the pile coordinates of a photovoltaic support is implemented as described in any one of claims 1 to 6.

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