Automatic calculation method and equipment for pile position coordinates of mountain photovoltaic flexible support

Abstract

The invention discloses an automatic calculation method and equipment for pile position coordinates of a mountain photovoltaic flexible support, which combines three-dimensional point cloud data processing, topographic feature analysis and an optimization algorithm, and through coordinate iterative calculation and a fine adjustment mechanism, accurate processing of topographic data and strict review of multiple conditions, the pile position coordinates of the mountain photovoltaic flexible support are calculated, and the pile position coordinates of the mountain photovoltaic flexible support are obtained. According to the method, factors such as project boundaries, forbidden zones, spans, dip angles and sags are considered, the accuracy and rationality of pile position coordinates can be ensured, errors and unreasonable layout possibly occurring in manual planning are avoided, and therefore the overall performance and stability of the photovoltaic power station are improved, and compared with a traditional manual planning mode, the method has the advantage that the cost is reduced. Compared with the prior art, manpower input and time cost are greatly reduced, a large number of pile position coordinates can be rapidly generated, the working efficiency of mountain photovoltaic flexible support pile position planning is remarkably improved, the problem of photovoltaic flexible support foundation site selection under the complex terrain can be efficiently and accurately solved, and the method plays an important role in flexible support layout design and construction.

Description

Technical Field

[0001] The present invention belongs to the technical field of photovoltaic flexible support arrangement, and in particular relates to a method and device for automatically calculating the pile position coordinates of a mountain photovoltaic flexible support. Background Art

[0002] With the continuous growth of global demand for clean energy, photovoltaic power generation has received widespread attention as a sustainable energy solution. Mountainous areas have become an important development area for photovoltaic power generation projects due to their vast land resources. When building photovoltaic power stations in mountainous areas, flexible supports are increasingly used because they can better adapt to complex terrain and reduce construction costs.

[0003] However, the irregular terrain and varying slopes of mountainous areas make on-site topographic surveys difficult, making site selection for flexible support foundations and column piles for photovoltaic power plants challenging. Currently, manual on-site surveys are the primary method, which is labor-intensive, inefficient, and suffers from low measurement accuracy. After obtaining survey data, flexible support pile positions are arranged manually or with the help of software, resulting in cumbersome data processing and complex arrangement. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and device for automatically calculating the coordinates of the pile positions of mountain photovoltaic flexible supports, so as to solve the technical problems of the difficulty and low efficiency of the existing mountain photovoltaic flexible supports.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A method for automatically calculating the coordinates of a mountain photovoltaic flexible support pile includes the following steps: Scan and obtain laser point cloud data within the photovoltaic layout area, and perform filtering and classification on the laser point cloud data to generate a digital elevation model and a laser point cloud 3D model; According to the digital elevation model and laser point cloud 3D model data, the constraints of coordinate iterative calculation are given; Considering the constraints of coordinate iterative calculation, the coordinates of the first pile position of each row of arrays in the photovoltaic layout area are first iteratively calculated, and then the coordinates of each pile position in each row are iteratively calculated; Based on the calculated coordinates of the first pile position of each row of arrays and the coordinates of each pile position in each row, the coordinates of each pile position are finally output to complete the automatic calculation of the pile position coordinates of the mountain photovoltaic flexible support; The constraints of the coordinate iterative calculation include at least whether the pile position coordinates are within the boundary range and whether the pile position coordinates avoid the restricted area, whether the span between each row of adjacent pile positions is between the maximum span value and the minimum span value, whether the span inclination angle meets the span inclination angle range requirements, whether the sag is less than the sag threshold, and whether the elevation of each point in the span is less than the elevation of each point on the deflection curve in the span.

[0006] Furthermore, considering the constraints of the coordinate iterative calculation, the steps for iteratively calculating the coordinates of the first pile position of each row of arrays in the photovoltaic layout area are as follows: Step 1: Based on the preset origin coordinates and array spacing, calculate the initial coordinates of the first pile position of the next row of arrays, specifying the north-south direction as the y-axis and the east-west direction as the x-axis; Step 2: Check whether the coordinate x of the first pile position in the next row of arrays is within the boundary range. If it is within the boundary range, proceed to the next step to check the boundary range of the coordinate y. If the coordinate x is not within the boundary range, end the iteration; Step 3: Check whether the y coordinate is within the boundary range. If not, add a fine-tuning step size to the coordinate in the x-axis direction, and return the y coordinate to the initial coordinate. Repeat step 2 until the y coordinate is within the boundary range. If it is, determine whether the y coordinate avoids the restricted area. If it does not avoid the restricted area, add a fine-tuning step size to the coordinate in the y-axis direction, and continue to fine-tune the y coordinate until the y coordinate is both within the boundary range and avoids the restricted area. Step 4: Repeat steps 2 and 3 to obtain the coordinates of the first pile position of each row of arrays.

[0007] Furthermore, when the coordinates of the first pile position of the array are always outside the boundary range or cannot avoid the restricted area during the iteration process, the iteration is stopped, and the previous row of the array where the first pile position coordinate of the current iteration is located is the last row of the array.

[0008] Furthermore, considering the constraints of the coordinate iterative calculation, the steps of iteratively calculating the coordinates of each pile position in each row are as follows: After determining the coordinates of the first pile position in each row, calculate the coordinates of each pile position in each row according to the design span, and conduct a pile position review on the coordinates of each pile position in each row. If the review fails, fine-tune the coordinates of each pile position and iterate until the coordinates of each pile position pass the review. Then determine the coordinates of each pile position in each row in turn. The review adopts the constraint conditions of coordinate iterative calculation.

[0009] Furthermore, in each row of pile position coordinates, the north-south direction is specified as the y-axis and the east-west direction is specified as the x-axis. During the fine-tuning calculation of each pile position coordinate, the y-axis fine-tuning is performed first. If the y-axis fine-tuning review fails, the iteration of the row is terminated and the calculation of the next row of pile position coordinates is performed.

[0010] Furthermore, the cross-angle calculation formula is:

[0011] in, is the span inclination angle, is the elevation of the mth pile position in the nth row, is the elevation of the m-1th pile position in the nth row, is the current span; The sag threshold formula is:

[0012] in, is the sag threshold, is the vertical span ratio threshold, is the current span.

[0013] Furthermore, the deflection curve of the single-layer cable system is:

[0014] Where, is the deflection curve value, is the distance from a certain position of the deflection curve along the span direction to the previous pile position, is the sag threshold, is the current span, is the elevation difference between the two pile positions.

[0015] In a second aspect, the present invention provides an automatic calculation system for the coordinates of a mountain photovoltaic flexible support pile, comprising a data acquisition module, a constraint condition construction module, an iterative calculation module, and a coordinate output module, wherein: Data acquisition module: used to scan and obtain laser point cloud data within the photovoltaic layout area, filter and classify the laser point cloud data to generate a digital elevation model and a laser point cloud 3D model; Constraint construction module: used to iteratively calculate constraints based on given coordinates based on digital elevation model and laser point cloud 3D model data; Iterative calculation module: It is used to consider the constraints of coordinate iterative calculation. First, iterative calculation is performed on the coordinates of the first pile position of each row of arrays in the photovoltaic layout area, and then iterative calculation is performed on the coordinates of each pile position in each row. Coordinate output module: used to output the coordinates of each pile position based on the calculated first pile position coordinates of each row of arrays and the coordinates of each pile position in each row, and complete the automatic calculation of the pile position coordinates of the mountain photovoltaic flexible support; The constraints of the coordinate iterative calculation include at least whether the pile position coordinates are within the boundary range and whether the pile position coordinates avoid the restricted area, whether the span between each row of adjacent pile positions is between the maximum span value and the minimum span value, whether the span inclination angle meets the span inclination angle range requirements, whether the sag is less than the sag threshold, and whether the elevation of each point in the span is less than the elevation of each point on the deflection curve in the span.

[0016] According to a third aspect, a terminal device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0017] In a fourth aspect, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0018] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention provides an automatic calculation method for the pile position coordinates of a mountain photovoltaic flexible support. The method combines three-dimensional point cloud data processing, terrain feature analysis and optimization algorithm, and effectively handles various complex terrain conditions through coordinate iterative calculation and fine-tuning mechanism. It can automatically avoid steep slopes, gullies, etc., realize automated pile position planning, and can efficiently and accurately solve the problem of photovoltaic flexible support foundation site selection under complex terrain, which plays an important role in the layout design and construction of flexible supports.

[0019] The present invention ensures the accuracy and rationality of pile position coordinates through precise processing of terrain data and strict review of multiple conditions, such as considering factors such as project boundaries, restricted areas, spans, span inclinations and verticality, avoiding errors and unreasonable layouts that may occur in manual planning, thereby improving the overall performance and stability of photovoltaic power stations. Compared with traditional manual planning methods, it greatly reduces manpower input and time costs, can quickly generate a large number of pile position coordinates, and significantly improves the work efficiency of mountain photovoltaic flexible support pile position planning.

[0020] The inclination angles of each span of the same row of arrays in the photovoltaic layout area of ​​the present invention are as consistent as possible, and the verticality meets the limit requirements, so that the force on the photovoltaic flexible bracket is more uniform, reducing the risk of structural deformation and damage caused by uneven force, thereby enhancing the stability and safety of the entire photovoltaic power station system and extending the service life of the power station. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a flow chart of an automatic calculation method for the pile position coordinates of a mountain photovoltaic flexible support; Figure 2 Detailed flowchart of a method for automatically calculating pile position coordinates of a mountain photovoltaic flexible support according to an embodiment of the present invention; Figure 3 Schematic diagram of iterative calculation of the first pile position coordinates of each row of arrays; Figure 4 Schematic diagram of iterative calculation of the coordinates of each pile position in each row. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0023] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0024] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] The present invention is described in further detail below with reference to the accompanying drawings: like Figure 1 As shown, a method for automatically calculating the coordinates of a mountain photovoltaic flexible support pile includes the following steps: Step 1: Scan and obtain laser point cloud data within the photovoltaic layout area, and filter and classify the laser point cloud data to generate a digital elevation model and a laser point cloud 3D model; Specifically, within the determined photovoltaic layout area, the drone-mounted laser radar is used to scan the terrain to obtain high-precision laser point cloud data within the photovoltaic layout area. The laser radar point cloud data is filtered and classified to generate a digital elevation model (DEM). Based on the laser point cloud data and the digital elevation model, a laser point cloud three-dimensional model is constructed.

[0026] Step 2: Based on the digital elevation model and the laser point cloud 3D model data, the constraints of the coordinate iterative calculation are given; The constraints of the coordinate iteration calculation include at least whether the pile position coordinates are within the boundary range and whether the pile position coordinates avoid the restricted area, whether the span between each row of adjacent pile positions is between the maximum span and the minimum span, whether the span inclination angle meets the span inclination angle range requirements, whether the sag is less than the sag threshold, and whether the elevation of each point in the span is less than the elevation of each point on the deflection curve in the span.

[0027] Step 3: Considering the constraints of the coordinate iterative calculation, first iteratively calculate the coordinates of the first pile position of each row of arrays in the photovoltaic layout area, and then iteratively calculate the coordinates of each pile position in each row; First, considering the constraints of the coordinate iterative calculation, the steps for iterative calculation of the coordinates of the first pile position of each row of arrays in the photovoltaic layout area are as follows: S1, based on the preset origin coordinates and array spacing, calculate the initial coordinates of the first pile position of the next row of arrays, stipulating the north-south direction as the y-axis and the east-west direction as the x-axis; S2, check whether the coordinate x of the first pile position of the next row of arrays is within the boundary range. If it is within the boundary range, proceed to the next step to check the boundary range of coordinate y. If coordinate x is not within the boundary range, end the iteration; S3, check whether the coordinate y is within the boundary range. If not, add a fine-tuning step size to the coordinate in the x-axis direction, and return the y coordinate to the initial coordinate. Repeat step 2 until the coordinate y is within the boundary range. If it is, determine whether the coordinate y avoids the restricted area. If it does not avoid the restricted area, add a fine-tuning step size to the coordinate in the y-axis direction, and continue to fine-tune the y coordinate until the coordinate y is both within the boundary range and avoids the restricted area. S4, repeat S2 and S3 to obtain the coordinates of the first pile position of each row of arrays.

[0028] During the iteration process, if the first pile position coordinate is always outside the boundary range or cannot avoid the restricted area, the iteration is stopped, and the previous row of the array where the first pile position coordinate of the current iteration is located is the last row of the array.

[0029] After determining the coordinates of the first pile position in each row of arrays, continue to consider the constraints of the coordinate iterative calculation and iteratively calculate the coordinates of each pile position in each row. The steps are as follows: After determining the coordinates of the first pile position in each row, calculate the coordinates of each pile position in each row according to the design span, and conduct a pile position review on the coordinates of each pile position in each row. If the review fails, fine-tune the coordinates of each pile position and iterate until the coordinates of each pile position pass the review. Then determine the coordinates of each pile position in each row in turn. Among them, the constraints of coordinate iterative calculation are used for review.

[0030] Step 4: Based on the calculated first pile position coordinates of each row of arrays and the coordinates of each pile position in each row, the coordinates of each pile position are finally output to complete the automatic calculation of the pile position coordinates of the mountain photovoltaic flexible support; The present invention provides a method for planning the pile positions of mountain photovoltaic flexible support columns based on unmanned aerial vehicle laser radar (LiDAR) point cloud data. The method can efficiently and accurately solve the problem of photovoltaic flexible support foundation site selection in complex terrain. The method combines three-dimensional point cloud data processing, terrain feature analysis and optimization algorithm, and can automatically avoid steep slopes, gullies, etc., to achieve automated pile position planning, which plays an important role in the layout design and construction of flexible supports.

[0031] In another embodiment of the present invention, a method for automatically calculating the coordinates of a mountain photovoltaic flexible support pile is provided. Figure 2 As shown, the following steps are included: Obtain high-precision terrain point cloud data by using a high-precision mapping lidar loaded on a drone: Within the determined photovoltaic layout area, the terrain is scanned using a drone-mounted lidar to obtain high-precision laser point cloud data within the photovoltaic layout area. The lidar point cloud data is filtered and classified to generate a digital elevation model (DEM) with an accuracy of up to 10 cm. DEM is a continuous digital surface model constructed by sampling and measuring the terrain surface to obtain a large number of elevation data points. It accurately describes the undulations of the ground in digital form and is usually stored and represented in the form of a matrix or grid.

[0032] Extract terrain features such as slope and aspect: Based on the DEM, the slope and aspect of each grid cell are calculated; Restricted areas are calibrated. Based on DEM data and laser point cloud three-dimensional models, steep slopes with a slope greater than a threshold (for example, a slope ≥ 45°), obstacles (such as rocks, gullies, etc.), ecological red lines, roads, and maintenance access areas are calibrated as restricted areas.

[0033] Automatic planning and calculation of pile positions: The agreed photovoltaic layout area is a south-facing slope or an area with a slope within ±30°, and the photovoltaic modules are installed along the slope.

[0034] The coordinate resolution of the DEM data is 0.1m*0.1m. Based on the DEM data of the photovoltaic layout area, the coordinates of the project boundary are determined. Assuming the design span L and the maximum span , minimum span , the maximum length of a single row array , array spacing D meters (i.e. the distance between arrays), vertical span ratio threshold c, and design pile height H.

[0035] Specify the origin coordinates in DEM data coordinates =( , ) is the seat in the first row and the first position, the x-axis is east-west, and the y-axis is north-south.

[0036] Calculate the coordinates of the first pile position of each row in turn. The specific steps are: According to the preset array spacing D, according to the origin coordinates =( , ), calculate the preliminary coordinates of the first pile position of the next row of arrays; The boundary judgment is performed on the preliminary coordinates of the first pile position of the next row of arrays obtained by preliminary calculation. First, check whether the coordinate x is within the project boundary range. If the coordinate x is not within the boundary range, end the iteration. If it is, proceed to the next step to check the boundary range of the coordinate y. If y is not within the boundary range, add a fine-tuning step size to the coordinate x axis direction, and the y coordinate returns to the initial coordinate. Repeat the above coordinate x boundary range check operation; if coordinate y is within the boundary range, then check whether coordinate y avoids the restricted area. If coordinate y does not avoid the restricted area, continue to fine-tune the y coordinate until coordinate y is within the boundary range and avoids the restricted area. At this time, determine that the coordinate is the coordinate of the first stake position in the nth row; Iterate the above process to obtain the first pile position coordinates of each row of arrays.

[0037] After determining the coordinates of the first pile position in each row, preliminarily calculate the coordinates of each pile position in each row based on the design span L, then perform pile position verification and fine-tuning calculations to determine the coordinates of each pile position in each row in turn.

[0038] S1, based on the preset design span and the coordinates of the first pile position in the nth row, calculate the preliminary coordinates of the next pile position in the row, stipulating the north-south direction as the y-axis and the east-west direction as the x-axis; S2, check whether the coordinate y of the next pile position calculated is within the boundary range. If it is within the boundary range, proceed to the next step to determine whether the coordinate y avoids the restricted area. If the coordinate y is not within the boundary range, end the iteration of the calculation of each pile position coordinate in this row, repeat S1, and perform the calculation of the n+1th row; S3: Determine whether the coordinate y avoids the restricted area. If not, add a fine-tuning step size to the coordinate in the y-axis direction and continuously fine-tune the y coordinate until the coordinate y is both within the boundary range and avoids the restricted area. If it avoids the restricted area, calculate the current span and proceed to determine whether the next span is between the maximum operating span and the minimum allowable span. S4: Determine whether the current span is between the maximum operating span and the minimum allowable span. If so, calculate the elevation difference between the pile positions at both ends of the current span, the span inclination angle, and the sag limit, calculate the sag curve within the current span, and proceed to the next step of determining whether the current span inclination angle meets the inclination range requirement. If not, end the iteration of the calculation of the coordinates of each pile position in this row, repeat S1, and perform the calculation for the n+1th row. S5, successively judging whether the current span inclination angle meets the inclination range requirement and whether the elevation of each point in the current span is less than the elevation of each point on the deflection curve in the span. If so, the coordinates of the pile position are obtained. If not, the coordinates are fine-tuned in the y-axis direction and S2 is repeated. S6, repeat the above steps to obtain the coordinates of each pile position in each row of arrays.

[0039] The calculation process of pile position review and fine-tuning is as follows Figure 4 As shown in the figure, based on the coordinates of the m-1th pile position in the nth row, the x coordinate is increased by the design span to obtain the x coordinate of the mth pile position, and then the condition review is performed. If the review fails, the y coordinate value is continuously fine-tuned until the review is finally successful, and the coordinates of the mth pile position are determined; If no suitable m-th pile position is found, the calculation of the coordinates of each pile position in the n-th row is terminated, and the calculation of the coordinates of the first pile position in the new array in the y-axis direction is started.

[0040] Specific review conditions include: If the pile position coordinates are within the project boundary and not within the restricted area, proceed to the next step of review. If the above conditions are not met, fine-tune the y-axis coordinates; The span of the current span should be less than or equal to the maximum span , greater than the minimum span ,.

[0041] According to the elevation difference between the mth pile position and the m-1th pile position and the current span, calculate the current span inclination:

[0042] in, is the span inclination angle, is the elevation of the mth pile position in the nth row, is the elevation of the m-1th pile position in the nth row, The current span; the inclination angles of each span in the same row of arrays should be kept consistent as much as possible to ensure uniform force on each span, reduce the complexity of the support structure, and ensure consistent component inclination angles; Calculate the current sag limit value based on the sag ratio threshold c and the current span:

[0043] in, is the sag threshold, is the vertical span ratio threshold, is the current span; Deflection curve:

[0044] Where, is the deflection curve value, is the distance from a certain position of the deflection curve along the span direction to the previous pile position, is the sag threshold, is the current span, is the elevation difference between the two pile positions.

[0045] In yet another embodiment of the present invention, a system for automatically calculating the coordinates of a mountain photovoltaic flexible support pile is provided, comprising a data acquisition module, a constraint condition construction module, an iterative calculation module, and a coordinate output module, wherein: Data acquisition module: used to scan and obtain laser point cloud data within the photovoltaic layout area, filter and classify the laser point cloud data to generate a digital elevation model and a laser point cloud 3D model; Constraint construction module: used to iteratively calculate constraints based on given coordinates based on digital elevation model and laser point cloud 3D model data; Iterative calculation module: It is used to consider the constraints of coordinate iterative calculation. First, iterative calculation is performed on the coordinates of the first pile position of each row of arrays in the photovoltaic layout area, and then iterative calculation is performed on the coordinates of each pile position in each row. Coordinate output module: used to output the coordinates of each pile position based on the calculated first pile position coordinates of each row of arrays and the coordinates of each pile position in each row, and complete the automatic calculation of the pile position coordinates of the mountain photovoltaic flexible support; The constraints of the coordinate iterative calculation include at least whether the pile position coordinates are within the boundary range and whether the pile position coordinates avoid the restricted area, whether the span between each row of adjacent pile positions is between the maximum span value and the minimum span value, whether the span inclination angle meets the span inclination angle range requirements, whether the sag is less than the sag threshold, and whether the elevation of each point in the span is less than the elevation of each point on the deflection curve in the span.

[0046] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0047] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0048] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0049] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit its scope of protection. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that after reading the present invention, those skilled in the art may still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the scope of protection of the pending claims of the invention.

Claims

1. A method for automatically calculating the coordinates of a mountain photovoltaic flexible support pile, characterized in that: The following steps are involved: Scan and obtain laser point cloud data within the photovoltaic layout area, and perform filtering and classification on the laser point cloud data to generate a digital elevation model and a laser point cloud 3D model; According to the digital elevation model and laser point cloud 3D model data, the constraints of coordinate iterative calculation are given; Considering the constraints of coordinate iterative calculation, the coordinates of the first pile position of each row of arrays in the photovoltaic layout area are first iteratively calculated, and then the coordinates of each pile position in each row are iteratively calculated; Based on the calculated coordinates of the first pile position of each row of arrays and the coordinates of each pile position in each row, the coordinates of each pile position are finally output to complete the automatic calculation of the pile position coordinates of the mountain photovoltaic flexible support; The constraints of the coordinate iterative calculation include at least whether the pile position coordinates are within the boundary range and whether the pile position coordinates avoid the restricted area, whether the span between each row of adjacent pile positions is between the maximum span value and the minimum span value, whether the span inclination angle meets the span inclination angle range requirements, whether the sag is less than the sag threshold, and whether the elevation of each point in the span is less than the elevation of each point on the deflection curve in the span.

2. The automatic calculation method of the pile position coordinates of a mountain photovoltaic flexible support according to claim 1 is characterized in that: Considering the constraints of coordinate iterative calculation, the steps for iterative calculation of the coordinates of the first pile position of each row of arrays in the photovoltaic layout area are as follows: Step 1: Based on the preset origin coordinates and array spacing, calculate the initial coordinates of the first pile position of the next row of arrays, specifying the north-south direction as the y-axis and the east-west direction as the x-axis; Step 2: Check whether the coordinate x of the first pile position in the next row of arrays is within the boundary range. If it is within the boundary range, proceed to the next step to check the boundary range of the coordinate y. If the coordinate x is not within the boundary range, end the iteration; Step 3: Check whether the y coordinate is within the boundary range. If not, add a fine-tuning step size to the coordinate in the x-axis direction, and return the y coordinate to the initial coordinate. Repeat step 2 until the y coordinate is within the boundary range. If it is, determine whether the y coordinate avoids the restricted area. If it does not avoid the restricted area, add a fine-tuning step size to the coordinate in the y-axis direction, and continue to fine-tune the y coordinate until the y coordinate is both within the boundary range and avoids the restricted area. Step 4: Repeat steps 2 and 3 to obtain the coordinates of the first pile position of each row of arrays.

3. The automatic calculation method of the mountain photovoltaic flexible support pile position coordinates according to claim 2 is characterized in that: When the coordinates of the first pile position of the array are always outside the boundary range or cannot avoid the restricted area during the iteration process, the iteration is stopped, and the previous row of the array where the first pile position coordinate of the current iteration is located is the last row of the array.

4. The automatic calculation method of the mountain photovoltaic flexible support pile position coordinates according to claim 1 is characterized in that: Considering the constraints of coordinate iterative calculation, the steps of iterative calculation for the coordinates of each pile position in each row are as follows: After determining the coordinates of the first pile position in each row, calculate the coordinates of each pile position in each row according to the design span, and conduct a pile position review on the coordinates of each pile position in each row. If the review fails, fine-tune the coordinates of each pile position and iterate until the coordinates of each pile position pass the review. Then determine the coordinates of each pile position in each row in turn. The review adopts the constraint conditions of coordinate iterative calculation.

5. The automatic calculation method of the pile position coordinates of a mountain photovoltaic flexible support according to claim 4 is characterized in that: In the coordinates of each row of pile positions, the north-south direction is defined as the y-axis and the east-west direction as the x-axis. During the fine-tuning calculation of the coordinates of each pile position, the y-axis fine-tuning is performed first. If the y-axis fine-tuning review fails, the iteration of the row is terminated and the calculation of the coordinates of the next row of pile positions is performed.

6. The automatic calculation method of the pile position coordinates of a mountain photovoltaic flexible support according to claim 1 is characterized in that: The calculation formula for the span inclination angle is: in, is the span inclination angle, is the elevation of the mth pile position in the nth row, is the elevation of the m-1th pile position in the nth row, is the current span; The sag threshold formula is: in, is the sag threshold, is the vertical span ratio threshold, is the current span.

7. The automatic calculation method of the mountain photovoltaic flexible support pile position coordinates according to claim 1 is characterized in that: The deflection curve of the single-layer cable system is: Where, is the deflection curve value, is the distance from a certain position of the deflection curve along the span direction to the previous pile position, is the sag threshold, is the current span, is the elevation difference between the two pile positions.

8. An automatic calculation system for the coordinates of mountain photovoltaic flexible support piles, characterized in that: The automatic calculation method for the pile position coordinates of the mountain photovoltaic flexible support according to any one of claims 1 to 7 comprises a data acquisition module, a constraint condition construction module, an iterative calculation module and a coordinate output module, wherein: Data acquisition module: used to scan and obtain laser point cloud data within the photovoltaic layout area, filter and classify the laser point cloud data to generate a digital elevation model and a laser point cloud 3D model; Constraint construction module: used to iteratively calculate constraints based on given coordinates based on digital elevation model and laser point cloud 3D model data; Iterative calculation module: It is used to consider the constraints of coordinate iterative calculation. First, iterative calculation is performed on the coordinates of the first pile position of each row of arrays in the photovoltaic layout area, and then iterative calculation is performed on the coordinates of each pile position in each row. Coordinate output module: used to output the coordinates of each pile position based on the calculated first pile position coordinates of each row of arrays and the coordinates of each pile position in each row, and complete the automatic calculation of the pile position coordinates of the mountain photovoltaic flexible support; The constraints of the coordinate iterative calculation include at least whether the pile position coordinates are within the boundary range and whether the pile position coordinates avoid the restricted area, whether the span between each row of adjacent pile positions is between the maximum span value and the minimum span value, whether the span inclination angle meets the span inclination angle range requirements, whether the sag is less than the sag threshold, and whether the elevation of each point in the span is less than the elevation of each point on the deflection curve in the span.

9. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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