A method and system for quickly positioning a photovoltaic support pile site coordinate

Abstract

The application provides a kind of photovoltaic support pile site coordinate fast positioning method and system obtains the space coordinate information above each photovoltaic support corresponding pile site of photovoltaic power station;Select the target photovoltaic support pile site that needs to be positioned in construction site;Based on initial projection angle, up and down adjustment angle value, include target photovoltaic support pile site in laser beam projection range, adopt dichotomy iterative approximation real angle, obtain the actual projection angle of laser beam of target photovoltaic support pile site and construction piling position;Finally, according to the relative position relationship of photovoltaic support pile site and laser projection equipment, the coordinates of each photovoltaic support pile site are calculated.The application ensures the accurate positioning of photovoltaic support pile site through accurate microtopography measurement and real-time calculation, greatly improves the positioning efficiency and accuracy of photovoltaic support pile site coordinate, significantly improves the construction efficiency and installation accuracy under complex terrain conditions.

Description

Technical Field

[0001] This invention belongs to the field of new energy technology and relates to a method and system for locating the coordinates of photovoltaic support piles. Background Technology

[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 plants, photovoltaic support structures, as key infrastructure that supports photovoltaic modules, are directly related to the power generation efficiency, stability, and lifespan of the entire photovoltaic system through their installation accuracy and construction efficiency.

[0003] In early and small-scale photovoltaic projects, manual measurement was the primary method for locating pile positions. Relying on tools such as measuring tapes and theodolites, this method was inefficient and prone to errors, especially in complex terrain, where the errors were more significant, affecting the subsequent installation of photovoltaic supports and equipment performance. To improve efficiency and accuracy, some teams adopted static surveying instruments such as total stations. However, total stations require setting up stations at multiple known control points and frequent station relocation. After locating each pile position, the process of moving the equipment and recalibrating the orientation is cumbersome and unsuitable for rapid positioning of large areas and high-density pile positions. Furthermore, in complex outdoor environments such as strong sunlight and sandstorms, the instrument's optical components are subject to interference, resulting in poor signal stability and large fluctuations in data reliability. Summary of the Invention

[0004] To address the problems of low positioning efficiency and poor accuracy of photovoltaic support pile coordinates as described in the background art, this invention provides a rapid positioning method and system for photovoltaic support pile coordinates.

[0005] The method of the present invention includes:

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

[0007] S2. Number the photovoltaic arrays, supports, and pile sites of the photovoltaic power station in an orderly manner, and select the target photovoltaic support pile sites that need to be located at the construction site;

[0008] S3. Combining the coordinates of the laser projection device and the spatial coordinates above the target photovoltaic support pile location, determine the direction of the laser beam in the horizontal plane after it is projected onto the area where the target photovoltaic support pile location is located.

[0009] S4. Using the direction of the laser beam to the target photovoltaic support pile in the horizontal plane, draw a section perpendicular to the XOY plane as the initial projection elevation. Calculate the initial projection angle of the laser projection device on this elevation based on the initial projection elevation.

[0010] S5. A laser beam is emitted through a laser projection device and projected onto the area where the target photovoltaic support pile is located. Based on the initial projection angle, the angle value is adjusted up and down to include the target photovoltaic support pile within the laser beam projection range. The first initial iteration angle and the second initial iteration angle are calculated respectively.

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

[0012] S7. Repeat S2-S6 to obtain the actual projection angle of the laser beam and the construction pile position of all photovoltaic support pile sites;

[0013] S8. Based on the actual projection angle of the laser beam and the construction pile position of all photovoltaic support pile sites, the coordinates of each photovoltaic support pile site are calculated according to the relative positional relationship between the photovoltaic support pile site and the laser projection equipment.

[0014] Furthermore, 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). Here, 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.

[0015] The horizontal azimuth angle α of the pile position relative to the laser projection equipment can be calculated using x0, y0, x1, and y1, where -π < α ≤ π, π / 2 corresponds to true north, and 0 corresponds to true east. When the pile position is northeast of the projection equipment, i.e., x1 - x0 > 0 and y1 - y0 > 0, the other three azimuth angle cases can be expressed using a similar formula to calculate the azimuth angle α.

[0016]

[0017] By using the azimuth angle α between the area where the target photovoltaic support pile is located and the laser projection device, the direction of the laser beam after it is projected onto the area where the target photovoltaic support pile is located is defined in the horizontal plane.

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

[0019] When the laser beam is projected, assume 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 of AC is h0=z0-z′0;

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

[0021]

[0022] Further, in S5, the included angle between the final ideal projection angle 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, which is denoted as l0;

[0023] If l0sinθ0<d0, it indicates that the projection angle is relatively 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 on the ground E1 along θ′0, and obtain the distance from point A to the ground projection point E1, which is denoted as l′0; if l′0sinθ′0>d0, it indicates that the projection angle is larger 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 to enclose the actual angle θ, the smaller angle is assigned to the initial iteration angle θ 11 , the larger angle is assigned to θ 21 .

[0026] Further, 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

[0027] Make the following judgment: emit laser to the ground along the angle θ 3i 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 is ≤x, and the specific value of x is determined according to the construction requirements of the photovoltaic power station, it can be considered that the projection point E at this time 3i is approximately the actual pile position point; that is, if |l 3i sinθ 3i-d0|≤x, it is determined that the iteration process ends, and θ 3i is taken as the actual projection angle θ, and the construction piling position is determined as point E 3i ;

[0028] If it is determined that |l 3i sinθ 3i -d0|>x, 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 start the (i+1)-th iteration until |l 3i sinθ 3i -d0|≤x is satisfied.

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

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

[0031] The target photovoltaic support pile position selection module is configured to perform sequential numbering on the photovoltaic arrays, supports and pile position points of the photovoltaic power station, and select the target photovoltaic support pile position to be positioned on the construction site;

[0032] The horizontal direction defining module for laser beam projection is configured to define the direction of the laser beam projected to the area where the target photovoltaic support pile position is located on the horizontal plane 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 configured to create a cross section perpendicular to the XOY plane as the initial projection vertical plane through the direction of the laser beam to the target photovoltaic support pile position on the horizontal plane, and calculate the initial projection angle of the laser projection device on this vertical plane according to the initial projection vertical plane;

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

[0035] The module for determining the actual projection angle and construction pile position is used to obtain the actual projection angle of the laser beam and the construction pile position of the target photovoltaic support pile site by using a bisection method to iteratively approximate the true angle based on the first initial iteration angle and the second initial iteration angle.

[0036] The repeat calculation module is used to repeat the operations of the target photovoltaic support pile location selection module, the horizontal direction definition module of 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 to obtain the actual laser beam projection angle and construction pile driving position of all photovoltaic support pile locations.

[0037] 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 angle of the laser beam at all photovoltaic support pile positions and the construction pile driving position, and according to the relative positional relationship between the photovoltaic support pile position and the laser projection equipment.

[0038] The present invention also proposes an electronic device, comprising: 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 realize a method for rapid positioning of photovoltaic support pile coordinates as described above.

[0039] The present invention also proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements a method for rapid positioning of photovoltaic support pile coordinates as described above.

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

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

[0042] (2) Improve construction efficiency: Through multi-point laser projection equipment and dynamic angle adjustment function, the pile position can be quickly locked, simplifying the process and reducing the time of traditional measurement and positioning. At the same time, combined with the batch positioning command of the computer APP, multiple pile positions can be positioned 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 angle. In addition, the laser equipment has a dynamic angle adjustment function, which can flexibly cope with complex terrain and ensure the accurate layout posture of the support on the slope.

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

[0045] (5) Automation and intelligence: By combining laser projection equipment and bisection method iterative approximation, the automation and intelligence of pile point positioning are realized, reducing the error and time consumption of manual operation;

[0046] Overall, this invention ensures accurate positioning of photovoltaic support piles through precise micro-topographic measurement and real-time calculation, greatly improving the positioning efficiency and accuracy of photovoltaic support pile coordinates, significantly enhancing construction efficiency and installation accuracy under complex terrain conditions, reducing rework risks, construction risks and costs, and improving the overall economic benefits of the project, thus having broad application prospects. Attached Figure Description

[0047] Figure 1 This is a flowchart of the method of the present invention.

[0048] Figure 2 A schematic diagram for selecting pile locations at the construction site.

[0049] Figure 3 This is a top view of the laser projection equipment and the target pile location.

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

[0051] Figure 5 This is a schematic diagram of laser projection in Example 1.

[0052] Figure 6 A schematic diagram for selecting the initial iteration angle.

[0053] Figure 7 This is a schematic diagram of the angle iteration of the bisection method.

[0054] Figure 8 This is a system architecture diagram of the present invention. Detailed Implementation

[0055] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0056] Example 1

[0057] A method for rapid positioning of photovoltaic support pile coordinates, flowchart as follows: Figure 1 As shown, the specific steps are as follows.

[0058] S1. Obtain the spatial coordinate information above the corresponding pile point of each photovoltaic support in the photovoltaic power station.

[0059] Specifically, given the complex terrain and varied slopes of the photovoltaic power station construction site, the least squares method was used to collect and analyze multi-point elevation data in depth. This allowed for the accurate fitting and derivation of plane slope parameters, fully considering the impact of topographical undulations on subsequent operations. Simultaneously, high-precision measuring instruments were used to rigorously measure and repeatedly verify the geometric center position of the photovoltaic support structure. This center coordinate serves as a key reference point, playing a crucial role in ensuring the reasonable distribution of pile positions and balanced load-bearing capacity. Furthermore, by scientifically rotating the support angle based on the obtained slope data and employing geometric and trigonometric functions, meticulous calculations were performed using the support center coordinate as a benchmark. This resulted in the final three-dimensional coordinates of each photovoltaic support above its corresponding pile position, successfully constructing a complete coordinate dataset adapted to the actual site conditions. This seamlessly integrates with the subsequent positioning process on the construction site. Therefore, based on the coordinate dataset constructed for the photovoltaic power station, the spatial coordinate information of each photovoltaic support above its corresponding pile position can be obtained.

[0060] S2. The photovoltaic arrays, supports, and pile sites of the photovoltaic power station are numbered in an orderly manner, and the target photovoltaic support pile sites that need to be located are selected at the construction site.

[0061] Visualization software can be used to select the target photovoltaic support pile positions at the photovoltaic construction site. Based on the built-in intelligent algorithm, the software can quickly analyze the intention of the command and refine the broad construction needs into precise operation guidance. If it is necessary to focus on a specific support and related pile positions, the software can accurately locate the corresponding numbered support and extract the coordinates of all its pile positions.

[0062] Specifically, such as Figure 2As shown, the intelligent software systematically and orderly numbers and arranges the photovoltaic array, support structure, and pile locations, constructing a clear and intuitive indexing system. Construction personnel can conveniently and flexibly utilize this software to accurately filter and retrieve the required pile locations based on actual on-site construction needs, efficiently guiding on-site construction operations. After selecting the required pile location coordinates, the intelligent software instantly pushes the instructions to the supporting multi-point laser projection equipment, activating the equipment to begin the positioning process for the target support structure and pile location.

[0063] In this embodiment, as Figure 2 As shown, the fifth pile point in the second row of the 42nd support in array 27 was selected. The pile point on the actual terrain was then determined using a multi-point laser projection device.

[0064] S3. Combining the coordinates of the laser projection equipment and the spatial coordinates above the target photovoltaic support pile location, determine the direction of the laser beam in the horizontal plane after it is projected onto the area where the target photovoltaic support pile location is located.

[0065] Specifically, assuming the coordinates of the laser projection device are (x0, y0, z0) and the coordinates of the pile position are (x1, y1, z1), where 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 azimuth angle α of the pile position relative to the laser projection equipment can be calculated using x0, y0, x1, and y1, where -π < α ≤ π, π / 2 corresponds to true north, and 0 corresponds to true east. When the pile position is northeast of the projection equipment, i.e., x1 - x0 > 0 and y1 - y0 > 0, the other three azimuth angle cases can be expressed using a similar formula to calculate the azimuth angle α.

[0067]

[0068] By using the azimuth angle α between the area where the target photovoltaic support pile is located and the laser projection equipment, the direction of the laser beam after it is projected onto the area where the target photovoltaic support pile is located is defined in the horizontal plane, i.e., as shown below. Figure 3 The direction indicated by the middle arrow.

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

[0070] like Figure 3From the difference in horizontal coordinates between points A and B: x1-x0=-3.996<0, y1-y0=1.997>0, we know that the pile is located at the northwest corner of the equipment. We then calculate the horizontal azimuth angle of the pile relative to the equipment.

[0071] S4. Using the direction of the laser beam to the target photovoltaic support pile in the horizontal plane, draw a section perpendicular to the XOY plane as the initial projection elevation. Calculate the initial projection angle of the laser projection device on this elevation based on the initial projection elevation.

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

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

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

[0075]

[0076] A laser is emitted at an initial projection angle, projecting a point E on the ground. Due to the height difference between the pile location B and the equipment installation point C, the laser projection point E deviates from the actual pile location B. Therefore, the following iterative approximation procedure will be implemented to gradually reduce this deviation and achieve accurate measurement of the pile location B.

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

[0078] S5. A laser beam is emitted through a laser projection device and projected onto the area where the target photovoltaic support pile is located. Based on the initial projection angle, the angle value is adjusted up and down to include the target photovoltaic support pile within the laser beam projection range. The first initial iteration angle and the second initial iteration angle are calculated respectively.

[0079] Specifically, such as Figure 6 As shown in the figure, let the included angle between the final ideal projection angles AB and AC be 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 on the ground E1 along θ'0, 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 larger 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, two angles that enclose the actual angle θ are obtained, the smaller angle is assigned to the initial iteration angle θ 11 , and the larger angle is assigned to θ 21 .

[0082] In this embodiment, as shown in Figure 5 , a laser is emitted along θ0 with the ground projection point being E, and the measured distance AE is l0=7.263m. Calculation shows that l0sinθ0=4.326m<4.467m=d0, which indicates θ0<θ. Take θ'0=θ0+5°=35.78°, the measured and calculated new l'0sinθ'0<d0, which indicates θ'0<θ. Continue to increase θ'0 by 5°, take θ''0=θ'0+5°=40.78°, then calculate l''0sinθ''0>d0, which indicates that θ''0>θ at this time, 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 dichotomy to iteratively approximate the real angle, so as to obtain the actual projection angle of the laser beam at the target photovoltaic support pile site and the construction piling position.

[0084] Specifically, as shown in Figure 7 , 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] to make the following determination: emit a laser to the ground along the angle θ 3i to form a projection point E3i , measure from point A to E 3i the distance, which is denoted as l 3i ; if the horizontal distance error obtained by the laser projected at the angle θ 3i is ≤ 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 at this time 3i is approximate to the actual pile position point; that is, if |l 3i sinθ 3i -d0|≤x, it is determined that the iteration process ends, θ 3i is taken as the actual projection angle θ, and the piling position for construction is determined as point E 3i ;

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

[0087] In this embodiment, take to emit a laser along the angle θ 31 to the ground, so as to form a projection point E 31 , measure the distance from point A to E 31 , which is denoted as l 31 . |l 31 sinθ 31 -d0|>5mm, the iteration process is continued, since l 31 sinθ 31 <d0, the iteration initial data θ for the second time 12 =θ 31 =38.28°, θ 22 =θ 12 =40.78° are taken.

[0088] The above iteration process is repeated. Until the 12th time, θ 3(12) =39.01°, the measured l 3(12) =7.091m, |l 3(12) sinθ 3(12)-d0|=|4.463-4.467|=0.004m<5mm, therefore the iteration is considered complete.

[0089] S7. Repeat S2-S6 to obtain the actual projection angle of the laser beam and the construction pile position of all photovoltaic support pile sites.

[0090] S8. Based on the actual projection angle of the laser beam and the construction pile position of all photovoltaic support pile sites, the coordinates of each photovoltaic support pile site are calculated according to the relative positional relationship between the photovoltaic support pile site and the laser projection equipment.

[0091] In this embodiment, based on 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 calculated. B′ can be used to replace the coordinates of the previously calculated pile point B.

[0092] Additionally, the design length of each pile can be obtained by subtracting the vertical height of the pile location from the vertical height of the support point. Considering the limited range of pile length adjustment function of the support, the maximum and minimum pile lengths can be divided into several equally spaced intervals based on this adjustment capability. For example, if the length of each interval is set to 10 centimeters, the minimum pile length is 1.1 meters, and the maximum pile length is 1.5 meters, then we can divide all piles into four batches: Batch I is 1.1-1.2 meters, Batch II is 1.2-1.3 meters, Batch III is 1.3-1.4 meters, and Batch IV is 1.4-1.5 meters. By accurately counting the number of piles in each batch, the corresponding number of piles are taken and transported to the corresponding pile locations for installation.

[0093] Example 2

[0094] A rapid positioning system for photovoltaic support pile coordinates, the architecture diagram of which is shown below. Figure 8 As shown, it consists of a spatial coordinate information acquisition module, a target photovoltaic support pile location 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 location determination module, a repetitive calculation module, and a photovoltaic support pile location coordinate calculation module.

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

[0096] The target photovoltaic support pile location selection module is used to number the photovoltaic arrays, supports and pile locations of the photovoltaic power station in an orderly manner, and to select the target photovoltaic support pile locations to be located on the construction site.

[0097] The horizontal direction definition module for laser beam projection 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 is located, by combining the coordinates of the laser projection device and the spatial coordinate information above the target photovoltaic support pile.

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

[0099] The initial iteration angle calculation module is used to project a laser beam from a laser projection device onto the area where the target photovoltaic support pile is located. Based on the initial projection angle, the angle value is adjusted up and down to include the target photovoltaic support pile within the laser beam projection range, and the first initial iteration angle and the second initial iteration angle are calculated respectively.

[0100] The module for determining the actual projection angle and construction pile position is used to obtain the actual projection angle of the laser beam and the construction pile position of the target photovoltaic support pile site by using a bisection method to iteratively approximate the true angle based on the first initial iteration angle and the second initial iteration angle.

[0101] The repeat calculation module is used to repeat the operations of the target photovoltaic support pile location selection module, the horizontal direction definition module of 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 to obtain the actual laser beam projection angle and construction pile driving position of all photovoltaic support pile locations.

[0102] 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 angle of the laser beam at all photovoltaic support pile positions and the construction pile driving position, and according to the relative positional relationship between the photovoltaic support pile position and the laser projection equipment.

[0103] The specific implementation methods of each module in this system are the same as those described in Example 1, and will not be repeated here.

[0104] Example 3

[0105] An electronic device includes a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to realize a rapid positioning method for photovoltaic support pile coordinates as described in Embodiment 1 above, and a rapid positioning system for photovoltaic support pile coordinates as described in Embodiment 2.

[0106] Example 4

[0107] A computer-readable storage medium storing a computer program that, when executed by a processor, implements a method for rapid positioning of photovoltaic support pile coordinates as described in Embodiment 1 above, and a system for rapid positioning of photovoltaic support pile coordinates as described in Embodiment 2.

[0108] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this 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 this application can be implemented in various computer languages, such as object-oriented programming languages ​​like Java, C++, Python, and interpreted scripting languages ​​like JavaScript.

[0109] This application is described with reference to flowchart illustrations and / or block diagrams of methods, electronic devices (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing electronic device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing electronic device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0110] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing electronic device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0111] These computer program instructions can also be loaded onto a computer or other programmable data processing electronic device to cause a series of operational steps to be performed on the computer or other programmable electronic device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable electronic device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The steps of the function specified in one or more boxes.

[0112] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0113] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for rapid positioning of photovoltaic support pile coordinates, characterized in that, Includes the following steps: S1. Obtain the spatial coordinate information above the corresponding pile point of each photovoltaic support in the photovoltaic power station; S2. Number the photovoltaic arrays, supports, and pile sites of the photovoltaic power station in an orderly manner, and select the target photovoltaic support pile sites that need to be located at the construction site; S3. Combining the coordinates of the laser projection device and the spatial coordinates above the target photovoltaic support pile location, determine the direction of the laser beam in the horizontal plane after it is projected onto the area where the target photovoltaic support pile location is located; assuming the coordinates of the laser projection device are... The coordinates of the pile location are in, , Obtained by spatial coordinate information above the target photovoltaic support pile site; Based on the actual terrain of the photovoltaic power station; pass , , and The horizontal azimuth angle of the pile position relative to the laser projection equipment can be calculated. ,in, The due north direction corresponds to The due east direction corresponds to When the pile is located northeast of the projection equipment, that is... ,and The other three azimuth angle cases can be expressed using similar formulas to calculate the azimuth angle. : （1）， Based on the azimuth angle of the area where the target photovoltaic support pile is located relative to the laser projection equipment Determine the direction of the laser beam in the horizontal plane after it is projected onto the area where the target photovoltaic support pile is located; S4. Using the direction of the laser beam to the target photovoltaic support pile location in the horizontal plane, construct a cross section perpendicular to the XOY plane as the initial projection elevation. Calculate the initial projection angle of the laser projection device on this elevation based on the initial projection elevation. After the laser beam is projected to the target photovoltaic support pile location area, construct a cross section perpendicular to the XOY plane in the horizontal plane as the initial projection elevation. Assume the installation position of the laser projection device is marked as point C, and the target photovoltaic support pile location is point B. Emit a laser line from point A on the laser projection device, accurately projecting it to the target photovoltaic support pile location point B. The vertical coordinates of point B, the target photovoltaic support pile location; When the laser beam is projected, assuming the target photovoltaic support pile is located at point D at the same horizontal height as point C, the length of CD is... The height of AC ; The initial projection angle of the laser projection equipment on this facade. The expression is: ； S5. A laser beam is emitted from a laser projection device and projected onto the area where the target photovoltaic support pile is located. Based on the initial projection angle, the angle value is adjusted up and down to include the target photovoltaic support pile within the laser beam projection range. The first initial iteration angle and the second initial iteration angle are calculated respectively. The angle between the final ideal projection angle AB and AC is set as... The laser projection device can obtain the distance from point A to the ground projection point E, denoted as . ; like This indicates that the projection angle is small. If the projection angle is too large, the projection angle needs to be increased; conversely, if the projection angle is too small, the projection angle needs to be decreased. like ,Pick ,along Project a laser onto the ground at point E1, and obtain the distance from point A to the projection point E1 on the ground, denoted as . ;like This indicates that the projection angle is greater than the actual angle. Otherwise, continue Increase until satisfied Selecting the initial iteration angle , ; like Similarly, obtaining two angles will yield the actual angle. Included, assigning a smaller angle to the initial iteration angle. A larger angle is given ; S6. Based on the first initial iteration angle and the second initial iteration angle, the bisection method is used to iteratively approximate the true angle to obtain the actual projection angle of the laser beam and the construction pile 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 pile position of all photovoltaic support pile sites; S8. Based on the actual projection angle of the laser beam and the construction pile position of all photovoltaic support pile sites, the coordinates of each photovoltaic support pile site are calculated according to the relative positional relationship between the photovoltaic support pile site and the laser projection equipment.

2. The method for rapid positioning of photovoltaic support pile coordinates according to claim 1, characterized in that: In S6, for the first The result of the next iteration, with a smaller angle as... The larger angle is , , ,set up ; The following determination is made: along the angle A laser is emitted to the ground, forming a projection point. Measure from point A to The distance is denoted as If according to The horizontal distance error obtained by the angled laser projection is ≤ x , x The specific value is determined based on the construction requirements of the photovoltaic power station, and the projection point at this time can be considered as... Approximate to the actual pile location; that is, if If the iteration process ends, then take... As the actual projection angle The location for pile driving during construction was determined as point. ; If the judgment Then, a further iteration is needed to further reduce the error: if Then let , ;like Then let , Then begin the first The next iteration, until... until.

3. A rapid positioning system for photovoltaic support pile coordinates to implement the method of claim 1 or 2, characterized in that: It includes a spatial coordinate information acquisition module, a target photovoltaic support pile location 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 location determination module, a repetitive calculation module, and a photovoltaic support pile location coordinate calculation module; The spatial coordinate information acquisition module is used to acquire the spatial coordinate information above the corresponding pile point of each photovoltaic support in the photovoltaic power station; The target photovoltaic support pile location selection module is used to number the photovoltaic arrays, supports and pile locations of the photovoltaic power station in an orderly manner, and to select the target photovoltaic support pile locations to be located at the construction site. The horizontal direction defining module for laser beam projection 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 is located, by combining the coordinates of the laser projection device and the spatial coordinates above the target photovoltaic support pile location; assuming the coordinates of the laser projection device are... The coordinates of the pile location are in, , Obtained by spatial coordinate information above the target photovoltaic support pile site; Based on the actual terrain of the photovoltaic power station; pass , , and The horizontal azimuth angle of the pile position relative to the laser projection equipment can be calculated. ,in, The due north direction corresponds to The due east direction corresponds to When the pile is located northeast of the projection equipment, that is... ,and The other three azimuth angle cases can be expressed using similar formulas to calculate the azimuth angle. : （1）， Based on the azimuth angle of the area where the target photovoltaic support pile is located relative to the laser projection equipment Determine the direction of the laser beam in the horizontal plane after it is projected onto the area where the target photovoltaic support pile is located; The initial projection angle calculation module is used to construct a cross-section perpendicular to the XOY plane in the direction of the laser beam to the target photovoltaic support pile location on the horizontal plane, and calculate the initial projection angle of the laser projection device on this plane based on the initial projection elevation. After the laser beam is projected to the target photovoltaic support pile location area, a cross-section perpendicular to the XOY plane is constructed in the direction of the horizontal plane, and the initial projection elevation is used as the initial projection elevation. Assuming the installation position of the laser projection device is marked as point C and the target photovoltaic support pile location is point B, a laser line is emitted from point A on the laser projection device and accurately projected to the target photovoltaic support pile location point B. The vertical coordinates of point B, the target photovoltaic support pile location; When the laser beam is projected, assuming the target photovoltaic support pile is located at point D at the same horizontal height as point C, the length of CD is... The height of AC ; The initial projection angle of the laser projection equipment on this facade. The expression is: ； The initial iteration angle calculation module is used to project a laser beam from a laser projection device onto the area where the target photovoltaic support pile is located. Based on the initial projection angle, it adjusts the angle value vertically to include the target photovoltaic support pile within the projection range of the laser beam, and calculates the first initial iteration angle and the second initial iteration angle respectively; the angle between the final ideal projection angle AB and AC is set as... The laser projection device can obtain the distance from point A to the ground projection point E, denoted as . ; like This indicates that the projection angle is small. If the projection angle is too large, the projection angle needs to be increased; conversely, if the projection angle is too small, the projection angle needs to be decreased. like ,Pick ,along Project a laser onto the ground at point E1, and obtain the distance from point A to the projection point E1 on the ground, denoted as . ;like This indicates that the projection angle is greater than the actual angle. Otherwise, continue Increase until satisfied Selecting the initial iteration angle , ; like Similarly, obtaining two angles will yield the actual angle. Included, assigning a smaller angle to the initial iteration angle. A larger angle is given ; The module for determining the actual projection angle and construction pile position is used to obtain the actual projection angle of the laser beam and the construction pile position of the target photovoltaic support pile site by using a bisection method to iteratively approximate the true angle based on the first initial iteration angle and the second initial iteration angle. The repeat calculation module is used to repeat the operations of the target photovoltaic support pile location selection module, the horizontal direction definition module of 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 to obtain the actual laser beam projection angle and construction pile driving position of all photovoltaic support pile locations. 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 angle of the laser beam at all photovoltaic support pile positions and the construction pile driving position, and according to the relative positional relationship between the photovoltaic support pile position and the laser projection equipment.

4. An electronic device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes these computer instructions to implement a rapid positioning method for photovoltaic support pile coordinates as described in claim 1 or 2.

5. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, it implements a method for rapid positioning of photovoltaic support pile coordinates as described in claim 1 or 2.

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