Rapid positioning method and system for photovoltaic support pile position coordinates

Abstract

The invention provides a rapid positioning method and system for pile position coordinates of photovoltaic supports. The rapid positioning method comprises the steps that space coordinate information above a pile position point corresponding to each photovoltaic support of a photovoltaic power station is obtained; a target photovoltaic support pile position needing to be positioned is selected on a construction site; on the basis of the initial projection angle and the up-down adjustment angle value, the target photovoltaic support pile position is contained in the laser beam projection range, the dichotomy is adopted to iteratively approach the real angle, and the laser beam actual projection angle and the construction piling position of the target photovoltaic support pile position point are obtained; finally, according to the relative position relation between the photovoltaic support pile position points and the laser projection equipment, the coordinates of each photovoltaic support pile position are obtained through calculation. According to the method, accurate positioning of the photovoltaic support pile position is ensured through accurate micro-topographic measurement and real-time calculation, the positioning efficiency and precision of the coordinates of the photovoltaic support pile position are greatly improved, and the construction efficiency and the installation precision under the complex topographic condition are remarkably improved.

Description

Technical Field

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

[0002] With the advancement of the global energy transition, photovoltaic power generation has become an important way for countries to reduce carbon emissions. In the construction of large-scale photovoltaic power stations, 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] In early and small-scale photovoltaic projects, manual measurement was the main method for positioning pile positions, relying on tools such as tape measures and theodolites. The efficiency was low and errors were easily generated, especially in complex terrains where the errors were more significant, affecting the subsequent installation of photovoltaic supports and the performance of equipment. To improve efficiency and accuracy, some teams adopted static measuring instruments such as total stations. However, total stations need to set up stations at multiple known control points and perform frequent station relocation operations. After positioning each pile position point, the process of moving the equipment and re-calibrating the orientation is cumbersome and not suitable for the rapid positioning of large areas and high-density pile positions. Moreover, in complex outdoor environments such as strong light and sandstorms, the optical components of the instrument are interfered, the signal stability deteriorates, and the data reliability fluctuates greatly. Summary of the Invention

[0004] To solve the problems of low positioning efficiency and poor accuracy of the pile position coordinates of the photovoltaic support described in the background art, the present invention provides a method and system for quickly positioning the pile position coordinates of a photovoltaic support.

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

[0006] S1. Obtain the spatial coordinate information above the pile position points corresponding to each photovoltaic support in the photovoltaic power station;

[0007] S2. Sequentially number the photovoltaic arrays, supports, and pile position points in the photovoltaic power station, and select the target photovoltaic support pile positions to be positioned at the construction site;

[0008] S3. Combine the coordinates of the laser projection device and the spatial coordinate information above the target photovoltaic support pile position point to define the direction of the laser beam in the horizontal plane after it is projected onto the area where the target photovoltaic support pile position is located;

[0009] S4. Make a cross-section perpendicular to the XOY plane as the initial projection elevation plane through the direction of the laser beam in the horizontal plane to the target photovoltaic support pile position, and calculate the initial projection angle of the laser projection device in this elevation plane based on the initial projection elevation plane;

[0010] S5. Project a laser beam onto the area where the target photovoltaic support pile position is located through a laser projection device. Based on the initial projection angle, adjust the angle value up and down to include the target photovoltaic support pile position within the laser beam projection range, and calculate the first initial iteration angle and the second initial iteration angle respectively.

[0011] S6. Based on the first initial iteration angle and the second initial iteration angle, use the bisection method to iteratively approximate the true angle, and obtain the actual projection angle of the laser beam and the construction pile driving position of the target photovoltaic support pile point.

[0012] S7. Repeat S2 - S6 to obtain the actual projection angles of the laser beams and the construction pile driving positions of all photovoltaic support pile points.

[0013] S8. According to the actual projection angles of the laser beams and the construction pile driving positions of all photovoltaic support pile points, and based on the relative position relationship between the photovoltaic support pile points and the laser projection device, calculate the coordinates of each photovoltaic support pile position.

[0014] Further, in S3, assume that the coordinates of the laser projection device are (x0, y0, z0), and the pile position coordinates are (x1, y1, z1). Among them, x1 and y1 are obtained through the spatial coordinate information above the target photovoltaic support pile point; z1 is obtained according to the actual terrain of the photovoltaic power station.

[0015] The horizontal direction azimuth angle α of the pile position relative to the laser projection device can be calculated through x0, y0, x1, and y1, where -π < α ≤ π, the due north direction corresponds to π / 2, and the due east direction corresponds to 0; when the pile position is in the northeast direction of the projection device, that is, x1 - x0 > 0 and y1 - y0 > 0, for the other three azimuth angle situations, similar formulas can be used to express and calculate the azimuth angle α.

[0016]

[0017] Based on the azimuth angle α of the area where the target photovoltaic support pile position is located relative to the laser projection device, define the direction of the laser beam in the horizontal plane after being projected onto the area where the target photovoltaic support pile position is located.

[0018] Furthermore, in S4, through the direction of the laser beam in the horizontal plane after being projected onto the target photovoltaic support pile position area, make a cross-section perpendicular to the XOY plane as the initial projection elevation. Assume that the installation position of the laser projection device is marked as point C, and the target photovoltaic support pile point is point B. Emit a laser line from point A on the laser projection device to accurately project onto the target photovoltaic support pile point B; z1 is the vertical coordinate of the target photovoltaic support pile point B.

[0019] When the laser beam is projected, it is assumed that the target photovoltaic support pile position is at point D at the same horizontal height as point C, and the length of CD The height h0 of AC = z0 - z′0;

[0020] The expression for the initial projection angle θ0 of the laser projection device on this elevation is:

[0021]

[0022] Furthermore, in the above S5, it is set that the included angle between the finally ideal projection angle AB and AC is θ, and the laser projection device can obtain the distance from point A to the ground projection point E, denoted as l0;

[0023] If l0sinθ0 < d0, it means that the projection angle is small, θ0 < θ, and the projection angle needs to be increased; otherwise, the projection angle needs to be decreased;

[0024] If θ0 < θ, take θ′0 = θ0 + n°, project the laser along θ′0 onto the ground at E1, and obtain the distance from point A to the ground projection point E1, denoted as l′0; if l′0sinθ′0 > d0, it means that the projection angle is greater than the actual angle, θ′0 > θ; otherwise, continue to increase θ′0 by n° until l′0sinθ′0 > d0 is satisfied; select the initial iteration angle θ 11 = θ0, θ 21 = θ′0;

[0025] If θ0 > θ, similarly, two angles are obtained that include the actual angle θ, and the smaller angle is assigned to the initial iteration angle θ 11 , and the larger angle is assigned to θ 21 .

[0026] Furthermore, in the above S6, for the i-th iteration result, the smaller angle is θ 1i , and the larger angle is θ 2i , i = 1, 2, ……, θ 1i < θ < θ 2i , it is set

[0027] The following judgment is made: Project the laser along the angle θ 3i onto the ground to form a projection point E 3i , measure the distance from point A to E 3i , denoted as l 3i ; if the horizontal distance error obtained by the laser projected at the angle θ 3i ≤ x, and the specific value of x is determined according to the construction requirements of the photovoltaic power station, then it can be considered that the projection point E 3i is approximately the actual pile position point; that is, if |l 3i sinθ 3iIf |l sinθ - d0| ≤ x, it is determined that the iterative process ends, and θ 3i is taken as the actual projection angle θ, and the position of the construction pile driving is determined as point E 3i ;

[0028] If it is determined that |l 3i sinθ 3i - d0| > x, the next iteration is required to continue reducing the error: If l 3i sinθ 3i < d0, then let θ 1(i+1) = θ 3i , θ 2(i+1) = θ 2i ; If l 3i sinθ 3i > d0, then let θ 1(i+1) = θ 1i , θ 2(i+1) = θ 3i Then the (i + 1)-th iteration starts until |l 3i sinθ 3i - d0| ≤ x.

[0029] Based on the above method, the present invention provides a rapid positioning system for the pile position coordinates of a photovoltaic support, including a spatial coordinate information acquisition module, a target photovoltaic support pile position selection module, a horizontal direction definition module, an initial projection angle calculation module, an initial iteration angle calculation module, an actual projection angle and construction pile driving position determination module, a repeated calculation module, and a photovoltaic support pile position coordinate calculation module;

[0030] The spatial coordinate information acquisition module is used to acquire the spatial coordinate information above the pile position points corresponding to each photovoltaic support in the photovoltaic power station;

[0031] The target photovoltaic support pile position selection module is used to sequentially number the photovoltaic arrays, supports, and pile position points in the photovoltaic power station, and select the target photovoltaic support pile position to be positioned at the construction site;

[0032] The horizontal direction definition module of the laser beam projection is used to define the direction of the laser beam in the horizontal plane after the laser beam is projected to the area where the target photovoltaic support pile position is located by combining the coordinates of the laser projection device and the spatial coordinate information above the target photovoltaic support pile position point;

[0033] The initial projection angle calculation module is used to make a cross-section perpendicular to the XOY plane as the initial projection elevation plane through the direction of the laser beam to the target photovoltaic support pile position in the horizontal plane, and calculate the initial projection angle of the laser projection device in this elevation plane;

[0034] The initial iteration angle calculation module is configured to emit a laser beam through a laser projection device and project it onto the area where the target photovoltaic support pile position is located. Based on the initial projection angle, the angle value is adjusted up and down to include the target photovoltaic support pile position within the laser beam projection range, and the first initial iteration angle and the second initial iteration angle are respectively calculated;

[0035] The actual projection angle and construction piling position determination module is configured to adopt the bisection method to iteratively approximate the true angle based on the first initial iteration angle and the second initial iteration angle, and obtain the actual projection angle of the laser beam and the construction piling position of the target photovoltaic support pile point;

[0036] The repeated calculation module is configured to repeat the operations of the target photovoltaic support pile position selection module, the horizontal direction definition module of the laser beam projection, the initial projection angle calculation module, the initial iteration angle calculation module, and the actual projection angle and construction piling position determination module to obtain the actual projection angle of the laser beam and the construction piling position of all photovoltaic support pile points;

[0037] The photovoltaic support pile position coordinate calculation module is configured to calculate the coordinates of each photovoltaic support pile position according to the actual projection angle of the laser beam and the construction piling position of all photovoltaic support pile points and based on the relative position relationship between the photovoltaic support pile points and the laser projection device.

[0038] The present invention also provides 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 quickly positioning the coordinates of a photovoltaic support pile as described above by executing the computer instructions.

[0039] The present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it realizes a method for quickly positioning the coordinates of a photovoltaic support pile as described above.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] (1) High-precision positioning: By obtaining the spatial coordinate information of each photovoltaic support pile point and combining the coordinates of the laser projection device, the coordinates of the photovoltaic support pile position are accurately calculated to ensure that the installation position meets the design requirements and ensure the accuracy and traceability of the construction process;

[0042] (2) Improve construction efficiency: With the multi-point laser projection device and dynamic angle adjustment function, the pile position can be quickly locked, the process can be simplified, the time for traditional measurement and positioning can be reduced. At the same time, combined with the batch positioning instructions of the computer APP, multiple pile positions can be located at one time, reducing equipment idle time and personnel waiting time, significantly accelerating the construction progress, shortening the construction period, and helping the project to be delivered quickly;

[0043] (3) Strong adaptability to complex terrain: It can effectively handle terrain factors such as slope angles. In addition, the laser device has a dynamic angle adjustment function, which can flexibly cope with complex terrain and ensure the accurate layout attitude of the support on the slope;

[0044] (4) Reduce the risk of rework: Through precise pile position calculation and laser projection technology, the problem of poor positioning accuracy of the pile position coordinates of the photovoltaic support is solved, reducing rework and adjustment during the construction stage and lowering the construction cost;

[0045] (5) Automation and intelligence: Combining the laser projection device and the dichotomy iterative approximation, the automation and intelligence of pile position location are realized, reducing the errors and time consumption of manual operations;

[0046] Generally speaking, through precise micro-topography measurement and real-time calculation, the present invention ensures the accurate positioning of the pile positions of the photovoltaic support, greatly improves the positioning efficiency and accuracy of the pile position coordinates of the photovoltaic support, significantly improves the construction efficiency and installation accuracy under complex terrain conditions, reduces the risk of rework, construction risk and construction cost, improves the overall economic benefit of the project, and has a wide application prospect. Brief Description of the Drawings

[0047] Figure 1 It is the method flow chart of the present invention.

[0048] Figure 2 It is the schematic diagram of pile position selection at the construction site.

[0049] Figure 3 It is the top view of the laser projection device and the target pile position.

[0050] Figure 4 It is the schematic diagram of the initial projection elevation.

[0051] Figure 5 It is the laser projection schematic diagram of Embodiment 1.

[0052] Figure 6 It is the schematic diagram of initial iteration angle selection.

[0053] Figure 7 It is the schematic diagram of dichotomy angle iteration.

[0054] Figure 8 It is the system architecture diagram of the present invention. Detailed implementation manners

[0055] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying 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.

[0056] Embodiment 1

[0057] A method for quickly positioning the pile position coordinates of a photovoltaic support, the flow chart is as Figure 1 shown, and the specific steps are as follows.

[0058] S1. Obtain the spatial coordinate information above the pile position points corresponding to each photovoltaic support in the photovoltaic power station.

[0059] Specifically, in view of the complex terrain and variable slopes of the construction site of the photovoltaic power station, the least squares method is used to collect and deeply analyze the multi-point elevation data, and the plane slope parameters can be accurately fitted and deduced, fully considering the influence of the terrain undulation on the subsequent operations; at the same time, with the help of high-precision measuring instruments, rigorous measurements are carried out and repeatedly verified to lock the geometric center position of the photovoltaic support. This center coordinate serves as a key reference point, which plays a core role in ensuring the reasonable distribution and balanced bearing of the pile positions; furthermore, combined with the obtained slope data, the support angle is scientifically rotated, and using geometric and trigonometric function relationships, precise calculations are carried out based on the support center coordinate, and finally the three-dimensional coordinates of each photovoltaic support above the corresponding pile position point are obtained, successfully constructing a complete set of coordinate datasets that adapt to the actual site, so as to seamlessly connect the subsequent positioning process at the construction site. Thus, based on the coordinate dataset constructed for the photovoltaic power station, the spatial coordinate information above the corresponding pile position point of each photovoltaic support can be obtained.

[0060] S2. Number the photovoltaic arrays, supports and pile position points of the photovoltaic power station in an orderly manner, and select the target photovoltaic support pile position to be positioned at the construction site.

[0061] The target photovoltaic support pile position at the photovoltaic construction site can be selected by using visualization software. The software, based on the built-in intelligent algorithm, quickly analyzes the instruction intention and refines the broad construction requirements into precise operation guidelines. If it is necessary to focus on a specific support and the associated pile positions, the software can accurately locate the support with the corresponding number and extract the full set of pile position coordinates under it.

[0062] Specifically, as Figure 2As shown, the intelligent software has implemented a systematic and orderly numbering arrangement for the photovoltaic array, support, and pile positions, constructing a clear and intuitive indexing system. According to the actual construction requirements on-site, construction personnel can conveniently and flexibly rely on this software to accurately screen and retrieve the required pile positions, efficiently guiding the on-site construction operations. After selecting the required pile position coordinates, the intelligent software immediately pushes instructions to the supporting multi-point laser projection device, activating the device to start the positioning process for the target support and pile position.

[0063] In this embodiment, as Figure 2 shown, select the 5th pile position in the 2nd row on the 42nd support in the 27th array. Next, measure the pile position on the actual terrain through the multi-point laser projection device.

[0064] S3. Combine the coordinates of the laser projection device and the spatial coordinate information above the target photovoltaic support pile position to define the direction of the laser beam in the horizontal plane after it is projected onto the area where the target photovoltaic support pile position is located.

[0065] Specifically, assume that the coordinates of the laser projection device are (x0, y0, z0), and the pile position coordinates are (x1, y1, z1). Among them, x1 and y1 are obtained through the spatial coordinate information above the target photovoltaic support pile position; z1 is obtained based on the actual terrain of the photovoltaic power station.

[0066] The horizontal direction azimuth angle α of the pile position relative to the laser projection device can be calculated through x0, y0, x1, and y1. Among them, -π < α ≤ π, the due north direction corresponds to π / 2, and the due east direction corresponds to 0; when the pile position is in the northeast direction of the projection device, that is, x1 - x0 > 0 and y1 - y0 > 0. For the other three azimuth angle situations, similar formulas can be used to express and calculate the azimuth angle α:

[0067]

[0068] Based on the azimuth angle α of the area where the target photovoltaic support pile position is located relative to the laser projection device, define the direction of the laser beam in the horizontal plane after it is projected onto the area where the target photovoltaic support pile position is located, that is, as Figure 3 the direction indicated by the arrow in.

[0069] In this embodiment, as Figure 5 shown, the known coordinates of the measurement device are A(139.468, 87.567, 58.635), the bottom coordinates of the device are C(139.468, 87.567, 51.135), and the horizontal coordinates of the target pile position are B(135.472, 89.564, z1).

[0070] As Figure 3From the difference in horizontal coordinates of points AB: x1-x0=-3.996<0, y1-y0=1.997>0, we can get that the pile position is located at the northwest corner of the equipment, and calculate the horizontal azimuth of the pile position relative to the equipment.

[0071] S4. Make a cross section perpendicular to the XOY plane as the initial projection elevation through the laser beam to the direction where the target photovoltaic support pile is located in the horizontal plane, and calculate the initial projection angle of the laser projection device on this elevation based on the initial projection elevation.

[0072] Specifically, Figure 4 As shown, after the laser beam is projected to the target photovoltaic bracket pile position area, a cross section perpendicular to the XOY plane is made in the direction of the horizontal plane as the initial projection elevation. Assuming that the installation position of the laser projection equipment is marked as point C, and the target photovoltaic bracket pile position is point B, in order to achieve precise construction, a laser line needs to be emitted from point A on the laser projection equipment to accurately project it to point B of the target photovoltaic bracket pile position; z1 is the vertical coordinate of point B of the target photovoltaic bracket pile position

[0073] When the laser beam is projected, assuming that the target photovoltaic support pile is at point D at the same level as point C, the length of CD The height of AC h0 = z0 - z′0;

[0074] The expression of the initial projection angle θ0 of the laser projection equipment on this facade is:

[0075]

[0076] The laser is emitted at the initial projection angle, and the laser forms a projection point E on the ground. Due to the height difference between the pile position B and the installation point C of the equipment, the laser projection point E is offset from the actual pile position B. In view of this, the following iterative approximation procedure will be carried out to gradually reduce this deviation and achieve accurate determination of the pile position B.

[0077] In this embodiment, Figure 5 As shown, a cross section perpendicular to the XOY plane is made through the azimuth angle α. Among them, h0=z0-z′0=7.5m, calculate

[0078] S5. Use a laser projection device to emit a laser beam to the area where the target photovoltaic support pile is located. Based on the initial projection angle, adjust the angle value up and down to include the target photovoltaic support pile position within the laser beam projection range, and calculate the first initial iteration angle and the second initial iteration angle respectively.

[0079] Specifically,Figure 6 As shown in the figure, the included angle between the finally ideal projection angles AB and AC is set as θ. The laser projection device can obtain the distance from point A to the ground projection point E, denoted as l0. If l0sinθ0 < d0, it indicates that the projection angle is small, θ0 < θ, and the projection angle needs to be increased; otherwise, the projection angle needs to be decreased.

[0080] If θ0 < θ, take θ′0 = θ0 + n°, project the laser along θ′0 onto the ground at E1, and obtain the distance from point A to the ground projection point E1, denoted as l′0. If l′0sinθ′0 > d0, it indicates that the projection angle is greater than the actual angle, θ′0 > θ; otherwise, continue to increase θ′0 by n° until l′0sinθ′0 > d0 is satisfied; select the initial iteration angle θ 11 = θ0, θ 21 = θ′0;

[0081] If θ0 > θ, similarly, obtain two angles that include the actual angle θ, assign the smaller angle to the initial iteration angle θ 11 , and assign the larger angle to θ 21 .

[0082] In this embodiment, as Figure 5 shown, emit a laser along θ0, and the projection point on the ground is E. Measure the distance AE, l0 = 7.263 m. Calculate l0sinθ0 = 4.326 m < 4.467 m = d0, indicating that θ0 < θ. Take θ′0 = θ0 + 5° = 35.78°, measure and calculate to get the new l′0sinθ′0 < d0, indicating that θ′0 < θ. θ′0 continues to increase by 5°. Take θ″0 = θ′0 + 5° = 40.78°, and then calculate l″0sinθ″0 > d0, indicating that at this time θ″0 > θ. Select the initial iteration angle θ 11 = θ′0 = 35.78°, θ 21 = θ″0 = 40.78°.

[0083] S6. Based on the first initial iteration angle and the second initial iteration angle, use the bisection method to iteratively approximate the true angle to obtain the actual projection angle of the laser beam at the target photovoltaic support pile point and the construction pile driving position.

[0084] Specifically, as Figure 7 shown, for the i-th iteration result, the smaller angle is θ 1i , and the larger angle is θ 2i , i = 1, 2, ……, θ 1i < θ < θ 2i , set

[0085] Make the following determination: Emit a laser along the angle θ 3i onto the ground to form a projection point E3i , measure the distance from point A to E 3i , denoted as l 3i ; if the horizontal distance error obtained from the laser projected at an angle of θ 3i ≤x, and the specific value of x is determined according to the construction requirements of the photovoltaic power station, then the projection point E at this time 3i can be considered approximately the actual pile position point; that is, if |l 3i sinθ 3i -d0|≤x, then it is determined that the iterative process ends, and θ 3i is taken as the actual projection angle θ, and the position of the construction pile driving is determined as point E 3i ;

[0086] If it is determined that |l 3i sinθ 3i -d0|>x, then the next iteration is required to continue reducing the error: if l 3i sinθ 3i <d0, then let θ 1(i+1) =θ 3i , θ 2(+1) =θ2; if l 3i sinθ3>d0, then let θ 1(i+1) =θ 1i , θ 2(+1) =θ 3i Then the (i + 1)-th iteration starts until |l 3i sinθ 3i -d0|≤x.

[0087] In this embodiment, take emit laser along the angle θ 31 to the ground to form a projection point E 31 , measure the distance from point A to E 31 , denoted as l 31 . |l 31 sinθ 31 -d0|>5mm, continue the iterative process. Since l 31 sinθ 31 <d0, take the initial data of the second iteration θ 12 =θ 31 =38.28°, θ 22 =θ 12 =40.78°.

[0088] Repeat the above iterative process. Until the 12th time, θ 3(12) =39.01°, measure l 3(12) =7.091m, |l 3(12) sinθ 3(12)|-d0| = |4.463 - 4.467| = 0.004m < 5mm, it is determined that the iteration ends.

[0089] S7. Repeat S2 - S6 to obtain the actual projection angles of the laser beams and the construction pile driving positions at all the photovoltaic support pile points.

[0090] S8. Based on the actual projection angles of the laser beams and the construction pile driving positions at all the photovoltaic support pile points, and according to the relative position relationship between the photovoltaic support pile points and the laser projection device, calculate the coordinates of each photovoltaic support pile position.

[0091] In this embodiment, according to the relative relationship between the laser device and the ground projection point, the coordinates of the ground projection point B′ (135.476, 89.562, 53.125) can be obtained. B′ can be used to replace the coordinates of the pile point B calculated in the early stage.

[0092] In addition, by subtracting the vertical height of the pile point on the terrain from the vertical height of the point on the support, the designed length of each pile can be obtained. Considering that the pile length adjustment function of the support has a certain limited range, according to this adjustment ability, the interval between the maximum value and the minimum value of the pile length can be divided into several equally spaced intervals. For example, if the length of each interval is set to 10 cm, the minimum pile length is 1.1 m, and the maximum pile length is 1.5 m, then all the piles can be divided into four batches: Batch Ⅰ is 1.1 - 1.2 m, Batch Ⅱ is 1.2 - 1.3 m, Batch Ⅲ is 1.3 - 1.4 m, and Batch Ⅳ is 1.4 - 1.5 m. By accurately counting the number of piles in each batch, taking the corresponding number of piles, and transporting these piles to the corresponding pile points for installation.

[0093] Embodiment 2

[0094] A rapid positioning system for photovoltaic support pile positions, the architecture diagram is as Figure 8 shown, and it is composed of a spatial coordinate information acquisition module, a target photovoltaic support pile position selection module, a horizontal direction definition module, an initial projection angle calculation module, an initial iteration angle calculation module, an actual projection angle and construction pile driving position determination module, a repeated calculation module, and a photovoltaic support pile position coordinate calculation module.

[0095] The spatial coordinate information acquisition module is used to acquire the spatial coordinate information above the pile points corresponding to each photovoltaic support in the photovoltaic power station.

[0096] The target photovoltaic support pile position selection module is used to number the photovoltaic arrays, supports, and pile points in the photovoltaic power station in an orderly manner, and select the target photovoltaic support pile positions to be positioned at the construction site.

[0097] A horizontal direction defining module for laser beam projection, which is used to define the direction of the laser beam in the horizontal plane after it is projected onto the area where the target photovoltaic support pile position is located by combining the coordinates of the laser projection device and the spatial coordinate information above the target photovoltaic support pile position.

[0098] An initial projection angle calculation module, which is used to make a cross-section perpendicular to the XOY plane as the initial projection elevation plane through the direction of the laser beam in the horizontal plane to the target photovoltaic support pile position, and calculate the initial projection angle of the laser projection device in this elevation plane based on the initial projection elevation plane.

[0099] An initial iterative angle calculation module, which is used to project the laser beam emitted by the laser projection device onto the area where the target photovoltaic support pile position is located, adjust the angle value up and down based on the initial projection angle, include the target photovoltaic support pile position within the range of the laser beam projection, and calculate the first initial iterative angle and the second initial iterative angle respectively.

[0100] An actual projection angle and construction pile driving position determination module, which is used to iteratively approximate the true angle by using the bisection method based on the first initial iterative angle and the second initial iterative angle, and obtain the actual projection angle of the laser beam and the construction pile driving position of the target photovoltaic support pile point.

[0101] A repeated calculation module, which is used to repeat the operations of the target photovoltaic support pile position selection module, the horizontal direction defining module for laser beam projection, the initial projection angle calculation module, the initial iterative angle calculation module, and the actual projection angle and construction pile driving position determination module, and obtain the actual projection angle of the laser beam and the construction pile driving position of all photovoltaic support pile points.

[0102] A photovoltaic support pile position coordinate calculation module, which is used to calculate the coordinate of each photovoltaic support pile position based on the relative position relationship between the photovoltaic support pile point and the laser projection device according to the actual projection angle of the laser beam and the construction pile driving position of all photovoltaic support pile points.

[0103] 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.

[0104] Embodiment 3

[0105] 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 quickly positioning the coordinates of a photovoltaic support pile as described in Embodiment 1 above, and a system for quickly positioning the coordinates of a photovoltaic support pile as described in Embodiment 2 by executing the computer instructions.

[0106] Embodiment 4

[0107] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements a method for quickly positioning the pile position coordinates of a photovoltaic support as described in Embodiment 1 above, and a system for quickly positioning the pile position coordinates of a photovoltaic support as described in Embodiment 2.

[0108] 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 completely hardware embodiment, a completely 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 storage, CD-ROM, optical storage, 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 interpreted scripting languages such as JavaScript.

[0109] 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 flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing electronic devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing electronic devices generate a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0110] 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, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0111] These computer program instructions can also be loaded onto a computer or other programmable data processing electronic device, so that a series of operation steps are executed on the computer or other programmable electronic device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable electronic device provide for implementing the functions in Figure 1 one flow or multiple flows and / or blocks Figure 1Steps of functions specified in one or more boxes.

[0112] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments 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 that fall within the scope of the present application.

[0113] 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 method for quickly locating the coordinates of a photovoltaic support pile, characterized in that: The following steps are involved: S1. Obtain the spatial coordinate information above the corresponding pile position of each photovoltaic support of the photovoltaic power station; S2. Orderly number the photovoltaic arrays, brackets and pile positions of the photovoltaic power station, and select the target photovoltaic bracket pile positions that need to be located at the construction site; S3, combining the coordinates of the laser projection device and the spatial coordinate information above the target photovoltaic support pile position, defining the direction of the laser beam in the horizontal plane after being projected to the area where the target photovoltaic support pile position is located; S4. Make a cross section perpendicular to the XOY plane as the initial projection elevation through the laser beam to the direction where the target photovoltaic support pile is located in the horizontal plane, and calculate the initial projection angle of the laser projection device on this elevation based on the initial projection elevation; S5, using a laser projection device to project a laser beam to the area where the target photovoltaic support pile is located, and based on the initial projection angle, adjusting the angle value up and down to include the target photovoltaic support pile within the laser beam projection range, and respectively calculating the first initial iteration angle and the second initial iteration angle; S6. Based on the first initial iteration angle and the second initial iteration angle, the actual angle is approximated by using the binary search method to obtain the actual projection angle of the laser beam and the construction piling position of the target photovoltaic support pile site; S7, repeat S2-S6 to obtain the actual projection angle of the laser beam and the construction piling position of all photovoltaic support pile sites; S8. Based on the actual projection angle of the laser beam at all photovoltaic support pile sites and the construction piling position, and according to the relative position relationship between the photovoltaic support pile site and the laser projection equipment, the coordinates of each photovoltaic support pile site are calculated.

2. A method for quickly locating the coordinates of a photovoltaic support pile according to claim 1, characterized in that: In S3, it is assumed that the coordinates of the laser projection device are (x0, y0, z0), and the coordinates of the pile position are (x1, y1, z1), wherein x1 and y1 are obtained through the spatial coordinate information above the target photovoltaic support pile position; z1 is obtained according to the actual terrain of the photovoltaic power station; The horizontal azimuth angle α of the pile position relative to the laser projection device can be calculated by x0, y0, x1 and y1, where -π<α≤π, the north direction corresponds to π / 2, and the east direction corresponds to 0; when the pile position is in the northeast direction of the projection device, that is, x1-x0>0, and y1-y0>0, the other three azimuth angles can be expressed using similar formulas to calculate the azimuth angle α: Based on the azimuth angle α of the target photovoltaic support pile location compared to the laser projection device, the direction of the laser beam in the horizontal plane after being projected to the target photovoltaic support pile location is defined.

3. A method for quickly locating the coordinates of a photovoltaic support pile according to claim 2, characterized in that: In the S4, after the laser beam is projected to the target photovoltaic support pile position area, a cross section perpendicular to the XOY plane is made in the direction of the horizontal plane as the initial projection elevation. Assuming that the installation position of the laser projection device is marked as point C, the target photovoltaic support pile position is point B, a laser line is emitted from point A on the laser projection device to accurately project it to the target photovoltaic support pile position point B; z1 is the vertical coordinate of the target photovoltaic support pile position point B; When the laser beam is projected, assuming that the target photovoltaic support pile is at point D at the same level as point C, the length of CD The height of AC h0=z0-z0 ′ ; The expression of the initial projection angle θ0 of the laser projection equipment on this facade is:

4. A method for quickly locating the coordinates of a photovoltaic support pile according to claim 3, characterized in that: In S5, the included angle between the finally ideal projection angles AB and AC is set as θ, and the laser projection device can obtain the distance from point A to the ground projection point E, denoted as l0; If l0sinθ0 < d0, it indicates that the projection angle is small, θ0 < θ, and the projection angle needs to be increased; otherwise, the projection angle needs to be decreased; If θ0<θ, take θ0 ′ =θ0+n°, along θ0 ′ Project the laser onto the ground E1 and obtain the distance from point A to the ground projection point E1, recorded as l ′ 0; if l ′ 0sinθ0 ′ >d0, it means the projection angle is greater than the actual angle, θ0 ′ >θ; otherwise continue to set θ0 ′ Increase n° until l is satisfied ′ 0sinθ0 ′ >d0; select the initial iteration angle θ 11 =θ0,θ 21 =θ0 ′ ; If θ0>θ, similarly, two angles are obtained, including the actual angle θ, and the smaller angle is assigned to the initial iteration angle θ 11 , the larger angle is assigned to θ 21 .

5. A method for quickly locating the coordinates of a photovoltaic support pile according to claim 4, characterized in that: In S6, for the i-th iteration result, the smaller angle is θ 1i , the larger angle is θ 2i , i=1,2,……,θ 1i <θ<θ 2i ,set up The following judgment is made: along the angle θ 3i Emit laser to the ground, forming projection point E 3i , measure from point A to E 3i The distance is denoted as l 3i ; If according to θ 3i The horizontal distance error obtained by the angle-projected laser is ≤x. The specific value of x is determined according to the requirements of the photovoltaic power station construction. It can be considered that the projection point E at this time 3i Approximately the actual pile position; that is, if |l 3i sinθ 3i -d0|≤x, then the iteration process is judged to be over, and θ is taken 3i As the actual projection angle θ, the construction pile location is determined as point E 3i ; If it is determined that |l 3i sinθ 3i -d0| > x, then the next iteration is required to further reduce the error: If l 3i sinθ 3i < d0, then let θ 1(i+1) = θ 3i , θ 2(i+1) = θ 2i ; If l 3i sinθ 3i > d0, then let θ 1(i+1) = θ 1i , θ 2(i+1) = θ 3i Then the (i + 1)-th iteration starts until |l 3i sinθ 3i -d0| ≤ x.

6. A rapid positioning system for the pile position coordinates of a photovoltaic support implementing the method described in any one of claims 1 to 5, characterized in that: It includes a spatial coordinate information acquisition module, a target photovoltaic support pile position selection module, a horizontal direction definition module, an initial projection angle calculation module, an initial iterative angle calculation module, an actual projection angle and construction pile driving position determination module, a repeated calculation module, and a photovoltaic support pile position coordinate calculation module; The spatial coordinate information acquisition module is used to acquire the spatial coordinate information above the pile position points corresponding to each photovoltaic support in the photovoltaic power station; The target photovoltaic support pile position selection module is used to sequentially number the photovoltaic arrays, supports, and pile position points in the photovoltaic power station, and select the target photovoltaic support pile position to be positioned at the construction site; The horizontal direction definition module for laser beam projection is used to define the direction of the laser beam in the horizontal plane after the laser beam is projected onto the area where the target photovoltaic support pile position is located, in combination with the coordinates of the laser projection device and the spatial coordinate information above the target photovoltaic support pile position; The initial projection angle calculation module is used to make a cross-section perpendicular to the XOY plane through the direction of the laser beam to the target photovoltaic support pile position in the horizontal plane as the initial projection elevation plane, and calculate the initial projection angle of the laser projection device in this elevation plane based on the initial projection elevation plane; The initial iterative angle calculation module is used to project the laser beam emitted by the laser projection device onto the area where the target photovoltaic support pile position is located, and based on the initial projection angle, adjust the angle value up and down to include the target photovoltaic support pile position within the range of the laser beam projection, and calculate the first initial iterative angle and the second initial iterative angle respectively; The actual projection angle and construction pile driving position determination module is used to iteratively approximate the real angle by the dichotomy method based on the first initial iterative angle and the second initial iterative angle, and obtain the actual projection angle of the laser beam and the construction pile driving position of the target photovoltaic support pile position; The repeated calculation module is used to repeat the operations of the target photovoltaic support pile position selection module, the horizontal direction definition module for laser beam projection, the initial projection angle calculation module, the initial iterative angle calculation module, the actual projection angle and construction pile driving position determination module, and obtain the actual projection angles of the laser beams and the construction pile driving positions of all photovoltaic support pile position points; The photovoltaic support pile position coordinate calculation module is used to calculate the coordinates of each photovoltaic support pile position based on the actual projection angles of the laser beams and the construction pile driving positions of all photovoltaic support pile position points, according to the relative position relationship between the photovoltaic support pile position points and the laser projection device.

7. An electronic device, characterized in that: It 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 quickly positioning the coordinates of a photovoltaic support pile position as described in any one of claims 1-5 by executing the computer instructions.

8. 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 as described in any one of claims 1 to 5 is implemented.

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