Construction method of pile foundation concrete pouring by high-altitude large-slope mountain photovoltaic unmanned aerial vehicle

Abstract

This invention discloses a method for constructing photovoltaic (PV) pile foundation concrete using unmanned aerial vehicles (UAVs) in extremely high-altitude, steep-slope mountainous terrain. The method includes: construction scenario determination; UAV equipment selection; quantitative calculation of lifting capacity; and standardized on-site construction operations. The beneficial effects of this invention are: This method is designed for steep mountainous terrain with slopes greater than 30° where ground machinery cannot pass, overcoming the terrain constraints of traditional pouring methods and providing a feasible technical path for PV pile foundation construction in extremely high-altitude mountainous areas; through a load attenuation correction formula, the actual effective payload of the UAV can be accurately calculated based on the altitude of the construction site, avoiding the construction risks caused by performance degradation in high-altitude environments and providing a quantitative basis for equipment selection; through formulas for single pile foundation pouring volume and daily efficiency calculation, the construction capacity of a single UAV can be accurately quantified, providing data support for construction organization design, personnel allocation, and schedule scheduling; UAV transportation significantly reduces reliance on traditional machinery and manpower.

Description

Technical Field

[0001] This invention relates to the field of construction technology for mountain photovoltaic projects, and in particular to a method for constructing pile foundation concrete using drones in mountain photovoltaic projects at extremely high altitudes and steep slopes. Background Technology

[0002] As the photovoltaic industry expands into complex terrain areas such as mountains and plateaus, the proportion of photovoltaic projects in extremely high-altitude, steep-slope mountainous areas continues to increase. These project sites are mostly tectonic erosion mountain landforms with large topographic relief, interspersed ridges and gullies, and the surface is mostly covered with shrubs and alpine meadows, and there are adverse geological risks such as landslides and collapses.

[0003] In the pile foundation concrete pouring stage, traditional construction methods rely on ground machinery such as concrete mixer trucks and pumping equipment for material transportation. However, when the terrain slope is greater than 30°, ground machinery cannot pass, and traditional transportation methods cannot be implemented. If concrete is transported manually, not only is the work efficiency extremely low and the labor cost high, but there are also significant safety risks associated with working at heights, which seriously restricts the construction progress and economic benefits of mountain photovoltaic projects.

[0004] While existing drone hoisting technology can transport materials in complex terrains, it lacks a system performance correction method for extremely high-altitude environments, making it impossible to accurately quantify load capacity and endurance at high altitudes. At the same time, a standardized pile foundation concrete pouring construction process has not yet been formed, hoisting efficiency calculations are vague, and construction positioning accuracy and operational safety are difficult to guarantee stably.

[0005] Therefore, it is necessary to propose a construction method for pouring concrete pile foundations using drones in extremely high-altitude, steep-slope mountainous photovoltaic areas to address the aforementioned technical issues. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing a method for pouring concrete for photovoltaic pile foundations using drones in extremely high-altitude, steep-slope mountainous areas. This method solves the problems of difficult concrete transportation, low construction efficiency, and difficulty in accurately quantifying drone performance in high-altitude environments in photovoltaic areas with steep slopes.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: The construction method for pouring concrete for photovoltaic pile foundations using drones in extremely high-altitude, steep-slope mountainous areas includes the following steps: S1. Construction scenario determination: Conduct terrain surveys of the mountainous photovoltaic area to be constructed to obtain data on site slope, altitude, and obstacle distribution; When the terrain slope in the area is greater than 30° and ground pouring machinery cannot pass, activate the drone-based pile foundation concrete pouring construction plan. S2. Selection of UAV equipment: Based on the altitude of the construction site and the performance degradation law of UAVs in high-altitude environments, the selection of a suitable heavy-load transport UAV is made by comprehensively considering the payload capacity, flight stability, terrain adaptability, endurance and positioning accuracy. S3. Quantitative calculation of hoisting capacity: Based on the effective payload of the selected UAV, concrete density, and design pouring volume of single / double piles, calculate the number of piles that can be poured in a single hoisting operation, and combine the work cycle and daily working hours to calculate the daily pouring construction efficiency. S4. On-site standardized construction operations are carried out in sequence, including take-off and hovering, sling connection, hoisting and lifting, moving and positioning, and placement and unloading, to complete the hoisting and pouring of pile foundation concrete in a cyclical manner.

[0008] In step S2, the attenuation correction of the UAV's effective payload in high-altitude environments is calculated using the following algorithm formula: ; In the formula The actual effective payload of the drone at an altitude of H; The rated effective payload of the UAV at the plain baseline elevation (0m); The load attenuation rate at an altitude of 4500m is 12% to 15%; H is the actual altitude of the construction site.

[0009] The heavy-duty transport drone selected in step S2 must meet the following requirements: maximum operating altitude of not less than 5500m, rated effective payload of not less than 75kg on plains, wind resistance of not less than level 5, horizontal and vertical positioning accuracy of not less than ±10cm when RTK positioning is enabled, and flight time of not less than 20min under full load.

[0010] The number of piles that can be poured in a single hoisting operation in step S3 is calculated using the following formula: For single pile foundations: ; For double-pile foundations: ; In the formula This refers to the number of single piles that can be poured in a single hoisting operation; V represents the number of double piles that can be poured in a single hoisting operation; V represents the volume of concrete that can be hoisted by the drone in a single operation. The concrete pouring volume for a single pile foundation; This refers to the concrete pouring volume of a single double-pile foundation.

[0011] In step S3, the volume of concrete lifted by the drone in a single operation is controlled to be 1.2m³. 3 The complete cycle of a single hoisting operation is set at 30 minutes, and the effective working time per day is 8 hours.

[0012] In step S3, the daily construction efficiency of a single drone for pouring pile foundations is calculated using the following algorithm formula: ; In the formula This represents the total number of corresponding pile foundations that a single drone can pour in a single day, expressed in piles per day. This refers to the effective daily work hours. The complete cycle of a single hoisting operation includes loading, flight, unloading, return, and charging time; N represents the number of corresponding pile foundations that can be cast in a single hoisting operation, in units of piles / operation.

[0013] In the takeoff and hovering process of step S4, the UAV takes off above the ground loading point and hovers stably at the predetermined height. The hovering height is not less than 1.2 times the length of the sling. During the hovering process, the horizontal attitude deviation of the fuselage does not exceed ±5°.

[0014] In step S4, during the movement and positioning process, the UAV travels along a preset three-dimensional flight path, and the cruising speed is controlled at 4~6m / s in the plateau environment. During the flight, the onboard obstacle avoidance system identifies obstacles such as trees and rocks in front in real time. When the distance to the obstacle is less than the 5m safety threshold, the flight path is automatically adjusted to complete the avoidance.

[0015] In step S4, during the placement and unloading process, after the drone flies directly above the target pile foundation, it completes precise alignment through RTK positioning, descends vertically to the unloading height, and then activates the hopper unloading device. After unloading is completed, the drone is vertically lifted to a safe height and returns to the loading point along the return path.

[0016] During construction, smart fast-charging batteries are used to power the drones. The charging time for a single battery is 8 to 9 minutes, and the charging capacity ranges from 30% to 95%. Multiple batteries are configured for rotation to ensure continuous construction operations for the drones.

[0017] Compared with existing technologies, the present invention has the following advantages: 1. This method is designed for steep mountainous terrain with a slope greater than 30° where ground machinery cannot pass. It completely solves the terrain constraints of traditional pouring methods and provides a feasible technical path for photovoltaic pile foundation construction in extremely high-altitude mountainous areas.

[0018] 2. By using the payload attenuation correction formula, the actual effective payload of the UAV can be accurately calculated based on the altitude of the construction site, avoiding the construction risks caused by performance degradation in high-altitude environments and providing a quantitative basis for equipment selection.

[0019] 3. By using the formula for single pile foundation pouring volume and the daily efficiency calculation formula, the construction capacity of a single drone can be accurately quantified, providing data support for construction organization design, personnel allocation and schedule arrangement.

[0020] 4. Drone transportation significantly reduces reliance on traditional machinery and manpower, lowering time and labor costs; at the same time, transportation efficiency is significantly improved, effectively shortening the overall construction cycle of the project.

[0021] 5. The drone is equipped with an obstacle avoidance system and a stabilization system, which can flexibly navigate complex mountainous environments and avoid the safety risks of manual steep slope transport; the standardized construction process also further ensures the stability and safety of the operation. Attached Figure Description

[0022] Figure 1 This is a flowchart of the concrete pouring method for pile foundations according to the present invention. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] like Figure 1 As shown, the construction method for pouring concrete for photovoltaic pile foundations using drones in extremely high-altitude, steep-slope mountainous areas includes the following steps: S1. Construction scenario determination: Conduct terrain surveys of the mountainous photovoltaic area to be constructed to obtain data on site slope, altitude, and obstacle distribution; When the terrain slope in the area is greater than 30° and ground pouring machinery cannot pass, activate the drone-based pile foundation concrete pouring construction plan. S2. Selection of UAV equipment: Based on the altitude of the construction site and the performance degradation law of UAVs in high-altitude environments, the selection of a suitable heavy-load transport UAV is made by comprehensively considering the payload capacity, flight stability, terrain adaptability, endurance and positioning accuracy. S3. Quantitative calculation of hoisting capacity: Based on the effective payload of the selected UAV, concrete density, and design pouring volume of single / double piles, calculate the number of piles that can be poured in a single hoisting operation, and combine the work cycle and daily working hours to calculate the daily pouring construction efficiency. S4. On-site standardized construction operations are carried out in sequence, including take-off and hovering, sling connection, hoisting and lifting, moving and positioning, and placement and unloading, to complete the hoisting and pouring of pile foundation concrete in a cyclical manner.

[0025] In step S2, the attenuation correction of the UAV's effective payload in high-altitude environments is calculated using the following algorithm formula: ; In the formula The actual effective payload of the drone at an altitude of H; The rated effective payload of the UAV at the plain baseline elevation (0m); The load attenuation rate at an altitude of 4500m is 12% to 15%; H is the actual altitude of the construction site.

[0026] The heavy-duty transport drone selected in step S2 must meet the following requirements: maximum operating altitude of not less than 5500m, rated effective payload of not less than 75kg on plains, wind resistance of not less than level 5, horizontal and vertical positioning accuracy of not less than ±10cm when RTK positioning is enabled, and flight time of not less than 20min under full load.

[0027] The number of piles that can be poured in a single hoisting operation in step S3 is calculated using the following formula: For single pile foundations: ; For double-pile foundations: ; In the formula This refers to the number of single piles that can be poured in a single hoisting operation; V represents the number of double piles that can be poured in a single hoisting operation; V represents the volume of concrete that can be hoisted by the drone in a single operation. The concrete pouring volume for a single pile foundation; This refers to the concrete pouring volume of a single double-pile foundation.

[0028] In step S3, the volume of concrete lifted by the drone in a single operation is controlled to be 1.2m³. 3 The complete cycle of a single hoisting operation is set at 30 minutes, and the effective working time per day is 8 hours.

[0029] In step S3, the daily construction efficiency of a single drone for pouring pile foundations is calculated using the following algorithm formula: ; In the formula This represents the total number of corresponding pile foundations that a single drone can pour in a single day, expressed in piles per day. This refers to the effective daily work hours. The complete cycle of a single hoisting operation includes loading, flight, unloading, return, and charging time; N represents the number of corresponding pile foundations that can be cast in a single hoisting operation, in units of piles / operation.

[0030] In the takeoff and hovering process of step S4, the UAV takes off above the ground loading point and hovers stably at the predetermined height. The hovering height is not less than 1.2 times the length of the sling. During the hovering process, the horizontal attitude deviation of the fuselage does not exceed ±5°.

[0031] In step S4, during the movement and positioning process, the UAV travels along a preset three-dimensional flight path, and the cruising speed is controlled at 4~6m / s in the plateau environment. During the flight, the onboard obstacle avoidance system identifies obstacles such as trees and rocks in front in real time. When the distance to the obstacle is less than the 5m safety threshold, the flight path is automatically adjusted to complete the avoidance.

[0032] In step S4, during the placement and unloading process, after the drone flies directly above the target pile foundation, it completes precise alignment through RTK positioning, descends vertically to the unloading height, and then activates the hopper unloading device. After unloading is completed, the drone is vertically lifted to a safe height and returns to the loading point along the return path.

[0033] During construction, smart fast-charging batteries are used to power the drones. The charging time for a single battery is 8 to 9 minutes, and the charging capacity ranges from 30% to 95%. Multiple batteries are configured for rotation to ensure continuous construction operations for the drones.

[0034] Beneficial effects of this invention: 1. This method is designed for steep mountainous terrain with a slope greater than 30° where ground machinery cannot pass. It completely solves the terrain constraints of traditional pouring methods and provides a feasible technical path for photovoltaic pile foundation construction in extremely high-altitude mountainous areas.

[0035] 2. By using the payload attenuation correction formula, the actual effective payload of the UAV can be accurately calculated based on the altitude of the construction site, avoiding the construction risks caused by performance degradation in high-altitude environments and providing a quantitative basis for equipment selection.

[0036] 3. By using the formula for single pile foundation pouring volume and the daily efficiency calculation formula, the construction capacity of a single drone can be accurately quantified, providing data support for construction organization design, personnel allocation and schedule arrangement.

[0037] 4. Drone transportation significantly reduces reliance on traditional machinery and manpower, lowering time and labor costs; at the same time, transportation efficiency is significantly improved, effectively shortening the overall construction cycle of the project.

[0038] 5. The drone is equipped with an obstacle avoidance system and a stabilization system, which can flexibly navigate complex mountainous environments and avoid the safety risks of manual steep slope transport; the standardized construction process also further ensures the stability and safety of the operation.

[0039] Equipment Selection: When choosing a mountain photovoltaic drone (the impact of the high-altitude environment on drone performance mainly stems from reduced air density leading to insufficient lift, decreased engine / motor power, reduced battery efficiency, and structural design limitations), the following key factors need to be considered: payload capacity, flight stability, ability to adapt to complex terrain, endurance, level of intelligence, and cost-effectiveness. After comprehensive consideration, this project selects the T100 agricultural transport drone, with the following main parameters:

[0040] (2) Analysis of lifting frequency and lifting capacity The amount of concrete that a drone can lift in a single operation is approximately 1.2 cubic meters. 3 (Calculated at 30Kg / time during transportation), it can be used to cast approximately 10 single piles or approximately 30 double piles.

[0041] The delivery time for a single drone transport is calculated at 30 minutes (including loading, unloading, charging, and flight time). The daily working hours are 8 hours, and it can transport 16 times a day. Each drone can pour approximately 160 single piles or 480 double piles.

[0042] (3) Actual operation of UAVs Once the preparations are complete, the lifting operation of the heavy-load drone can begin. The specific operating steps are as follows: Takeoff and Hovering: The operator commands the drone to take off via remote control or ground station control system and hover stably at the predetermined position. During hovering, the drone's stability and balance must be maintained.

[0043] Sling connection: Using the lifting device carried by the drone, the sling is connected to the item to be lifted. During the connection process, it is necessary to ensure that the sling connection is firm and to adjust the length and angle of the sling to meet the lifting requirements.

[0044] Lifting and hoisting: After confirming that the sling connections are correct, the operator gradually controls the drone to ascend, causing the hoisted item to slowly leave the ground. During the lifting process, close attention must be paid to the drone's status and the balance of the load.

[0045] Movement and Positioning: Based on mission requirements, operators direct the drone to move the hoisted item to the designated location and perform precise positioning. During the movement, the stability of the drone and the safety of the payload must be maintained.

[0046] Placement and unloading: Once the hoisted item reaches the designated location, the operator controls the drone to lower its altitude, places the item smoothly on the ground, and disconnects the slings.

[0047] Example 1: Example: This example takes a photovoltaic project at an extremely high altitude of 4500m in a mountainous area as an example. The average slope of the project area is 35°, and ground concrete pouring machinery cannot pass through. The construction method of this invention is used to pour the pile foundation concrete.

[0048] Based on the on-site topographic survey, the slope of the project site ranges from 32° to 38°, with an average of 35°. Ground machinery such as concrete mixer trucks and pumping equipment cannot reach the work area, thus meeting the conditions for the use of drone construction. Therefore, it was determined that the construction plan of pouring pile foundation concrete by drone will be adopted.

[0049] The selection of the drone equipment took into account the project's altitude of 4500m, comprehensively considering performance factors such as payload, altitude, wind resistance, and endurance, and ultimately chose the T100 heavy-duty transport drone. This drone has a rated effective payload capacity for plains terrain. Take the load attenuation rate at an altitude of 4500m. Substitute into the load correction formula to calculate: ; The calculation results are consistent with the measured values ​​at high altitudes, meeting the construction load requirements. Meanwhile, the drone has a maximum operating altitude of 5500m, can withstand winds up to level 5, and achieves an accuracy of ±10cm when using RTK positioning, making it suitable for construction environments in extremely high-altitude mountainous areas.

[0050] Quantitative calculation of lifting capacity: known volume of concrete lifted by a single drone. According to the design, the volume of a single pile foundation cast in a single pile is... Single-pile casting volume of double-pile foundation Substituting into the formula for the quantity of a single pour: Number of single piles: root; Number of double piles: root; Set a single hoisting cycle period (Including loading, flight, unloading, return, and charging time), daily effective operating hours Substitute into the daily efficiency formula: Daily pouring volume per pile: root / day; Daily pouring volume for double piles: Roots / day; the calculation results are directly used for construction schedule planning and resource allocation.

[0051] Standardized on-site construction operations 1. Takeoff and hovering: Before construction, the flight path planning and equipment debugging are completed. The operator commands the UAV to take off from the loading point through the ground station and hover stably at a height of 12m above the loading point (the sling length is 10m, and the hovering height is 1.2 times the sling length), keeping the horizontal attitude deviation of the fuselage not exceeding ±5°. 2. Sling connection: Ground staff connect the concrete hopper to the drone sling. After confirming that the lock is secure, they adjust the sling angle to ensure that the hopper is level.

[0052] 3. Lifting and hoisting: The operator controls the drone to slowly rise, and stops the rise after the hopper is steadily 2m off the ground, confirming that the load is stable and there is no swaying.

[0053] 4. Movement and Positioning: The UAV flies along a preset route towards the target pile foundation area, with a cruising speed controlled at 6m / s. During flight, the onboard obstacle avoidance system scans for obstacles in real time and automatically adjusts the path to avoid them. After reaching the target pile position, precise alignment is achieved through the RTK positioning system, with the positioning error controlled within ±10cm. 5. Placement and Unloading: The UAV descends vertically to a height of 0.5m from the pile foundation opening, activates the unloading device, and injects concrete into the pile foundation hole. After unloading, the UAV is vertically lifted to a safe height and returns to the loading point along the return route to begin the next hoisting cycle.

[0054] During construction, multiple DB2160 smart flight batteries are used in rotation. Each battery takes 8 to 9 minutes to charge and has a charge range of 30% to 95%, ensuring continuous operation of the drone.

[0055] Example 2: This embodiment takes a steep mountain photovoltaic project at an altitude of 3000m as an example. The average terrain slope of the project area is 33°, and ground pumping equipment and concrete mixer trucks cannot enter the work area. The construction method of this invention is used to carry out the pile foundation concrete pouring construction.

[0056] Construction scenario determination: Based on on-site topographic survey and obstacle investigation, the slope of the project site ranges from 31° to 36°, with an average of 33°. There are no conditions for ground pouring machinery to operate, which meets the threshold for using drones for pouring construction. Therefore, it is determined to use drones for pouring pile foundation concrete construction.

[0057] Unmanned Aerial Vehicle (UAV) Equipment Selection: Considering the project's altitude of 3000m, the T100 heavy-duty transport UAV was selected. This UAV has a rated effective payload in plains areas. The load attenuation rate at an altitude of 4500m was taken. Substituting into the plateau environment load attenuation correction formula for calculation: ; Calculations show that the actual effective payload of the drone at an altitude of 3000m is approximately 69kg, which meets the construction load requirements. The drone has a maximum operating altitude of 5500m, a wind resistance of level 5, an RTK positioning accuracy of ±10cm, and a full-load flight time of 22 minutes, making it suitable for the mountainous construction environment of this project. 3. Quantitative Calculation of Lifting Capacity: The design pouring volume for a single pile foundation in this project is [volume missing]. Single-pile design pouring volume of double-pile foundation The volume of concrete lifted by a drone in a single operation Substituting into the formula for the number of pile foundations that can be poured in a single hoisting operation: Number of single piles: root; Number of double piles: root; Set a complete cycle for a single hoisting operation. Daily effective working hours Substituting into the daily construction efficiency formula: Daily pouring volume per pile: root / day; Daily pouring volume for double piles: Roots / day; the calculation results are used for the preparation of the project's construction schedule and the allocation of workers.

[0058] 4. Standardized on-site construction operations: Takeoff and hovering: After pre-planning the three-dimensional flight path and completing the equipment integration, the operator commands the UAV to take off from the loading point through the ground control system and hover stably at a height of 12m above the loading point (the sling length is 10m, and the hovering height is 1.2 times the sling length), controlling the horizontal attitude deviation of the fuselage within ±5°. Sling connection: Ground workers connect and lock the concrete hopper to the drone sling, adjust the sling posture to ensure the hopper remains horizontal, and confirm that the connection is secure and there is no risk of loosening; Lifting and hoisting: The operator controls the drone to rise at a constant speed. After the hopper is 2m off the ground, it is kept hovering. After confirming that the load is stable and there is no large swing, it enters the flight stage. Movement and Positioning: The drone cruises along a preset route at a controlled speed of 5 m / s. During flight, the onboard obstacle avoidance system monitors obstacles such as mountains and trees in real time, automatically adjusting the flight path to avoid obstacles when the distance is less than 5 m. After reaching the target pile directly above, precise alignment is achieved through RTK positioning, with the positioning error controlled within ±10 cm. Placement and unloading: The drone descends vertically to the bottom of the hopper, 0.5m from the top of the pile foundation, and starts the hopper unloading device to complete the concrete pouring; after unloading, the drone rises vertically to a safe height and returns to the loading point along the return path to start the next hoisting cycle. During the construction process, multiple DB2160 smart fast-charging batteries are used to provide power in rotation. The charging time of a single battery is 8-9 minutes, and the charging capacity is controlled between 30% and 95%, ensuring continuous and uninterrupted operation of the drone.

[0059] This embodiment takes a photovoltaic project at an extremely high altitude of 5000m as an example. The average terrain slope of the project area is 37°, and ground pouring machinery cannot pass through at all. The construction method of this invention is used to carry out pile foundation concrete pouring construction.

[0060] Construction scenario assessment: Based on the on-site topographic survey, the slope of the project site ranges from 34° to 40°, with an average of 37°. Ground machinery such as concrete mixer trucks and pumping equipment have no access or operating conditions, which meets the criteria for using drones for concrete pouring. Therefore, the construction plan of using drones for pile foundation concrete pouring is determined.

[0061] Unmanned aerial vehicle (UAV) equipment selection: Considering the project's extremely high altitude of 5000m, the T100 heavy-duty transport UAV was selected.

[0062] The drone's rated effective payload in plains areas Considering the attenuation characteristics at high altitudes, the load attenuation rate at an altitude of 4500m is taken. (Using the upper limit of the attenuation rate for high-altitude operating conditions), substitute into the load attenuation correction formula for plateau environment for calculation: ; Calculations show that the actual effective payload of the drone at an altitude of 5000m is approximately 62.5kg, which meets the load requirements for construction. Meanwhile, the drone has a maximum operating altitude of 5500m, providing ample altitude redundancy; it can withstand winds up to level 5, has an RTK positioning accuracy of ±10cm, and a full-load flight time of no less than 18 minutes, making it suitable for extremely high-altitude mountain construction environments.

[0063] 3. Quantitative calculation of lifting capacity: The volume of concrete that can be lifted by the drone in a single operation is known. The volume of a single pile foundation cast in this project. Single-pile casting volume of double-pile foundation Substituting into the formula for the quantity of a single pour: Number of single piles: root; Number of double piles: root; Considering high-altitude flight conditions, the complete cycle of a single hoisting operation is adjusted to: (Including loading, flight, unloading, return, and charging time), daily effective operating hours Substitute into the daily efficiency formula: Daily pouring volume per pile: root / day; Daily pouring volume for double piles: Roots / day; the calculation results are used for the preparation of the project's construction schedule and the allocation of work resources.

[0064] 4. Standardized on-site construction operations: Takeoff and hovering: Before construction, high-altitude flight parameters are calibrated and flight routes are planned. Operators use the ground station to direct the UAV to take off from the loading point and hover stably at a height of 12m above the loading point (the sling length is 10m, and the hovering height is 1.2 times the sling length). The horizontal attitude deviation of the fuselage is strictly controlled to not exceed ±5°. Sling connection: Ground staff will lock the concrete hopper to the drone sling, adjust the tension and angle of the sling, ensure that the hopper remains horizontal, and confirm that the connection is secure and there is no risk of slippage. Lifting and hoisting: The operator controls the drone to rise slowly and at a constant speed. After the hopper is 2m off the ground, the drone stops rising. After hovering to confirm that the load is stable and there is no obvious swaying, the drone enters the flight phase. Movement and Positioning: The UAV cruises towards the target pile foundation area along a preset three-dimensional flight path, with a cruise speed controlled at 4 m / s in high-altitude environments. During flight, the onboard obstacle avoidance system scans for obstacles such as rocks and shrubs in real time. When the distance to an obstacle is less than the 5m safety threshold, the flight path is automatically adjusted to avoid it. After arriving directly above the target pile position, precise alignment is achieved through the RTK positioning system, with the positioning error controlled within ±10cm. Placement and unloading: The drone descends vertically to a position 0.5m above the top of the pile foundation at the bottom of the hopper, activates the hopper unloading device, and smoothly pours concrete into the pile foundation hole. After unloading, the drone is lifted vertically to a safe height and returns to the loading point along the return route to begin the next hoisting cycle. Multiple DB2160 intelligent flight batteries are used in rotation during construction. Each battery takes 8-9 minutes to charge, with a charging capacity ranging from 30% to 95%, ensuring continuous drone operation in high-altitude environments.

[0065] Example 4: This example takes a photovoltaic project on a steep mountain at an altitude of 4200m as an example. The average slope of the project area is 34°, and ground concrete transport machinery cannot reach the work surface. The construction method of the present invention is used to carry out the pile foundation concrete pouring operation.

[0066] Construction scenario determination: Based on on-site topographic survey and accessibility verification, the slope of the project site ranges from 31° to 36°, with an average of 34°. Ground concrete mixer trucks and pumping equipment cannot enter the work area, which meets the conditions for the use of drone pouring construction. Therefore, the construction plan of using drones to pour pile foundation concrete is determined.

[0067] Unmanned aerial vehicle (UAV) equipment selection: Considering the project's altitude of 4200m, the T100 heavy-duty transport UAV was selected.

[0068] The drone's rated effective payload in plains areas The load attenuation rate at an altitude of 4500m was taken. Substituting into the plateau environment load attenuation correction formula for calculation: ; Calculations show that the actual effective payload of the drone at an altitude of 4200m is approximately 65.2kg, which meets the construction payload requirements. The drone has a maximum operating altitude of 5500m, a wind resistance of level 5, and achieves a horizontal and vertical accuracy of ±10cm when using RTK positioning. It also has a full-load flight time of 21 minutes, making it suitable for the construction environment of this mountain photovoltaic project.

[0069] 3. Quantitative calculation of lifting capacity: The volume of concrete that can be lifted by the drone in a single operation is known. ; This project design employs a combination of small-diameter single piles and double piles for the foundation, with a single pile foundation having a single-pile casting volume. , Single-pile casting volume of double-pile foundation Substituting into the formula for the quantity of a single pour: Number of single piles: root; Number of double piles: Root; Set the complete cycle of a single hoisting operation. (Including loading, flight, unloading, return, and recharging time), daily effective operating hours Substituting into the daily construction efficiency formula: Daily pouring volume per pile: Roots / day; Daily pouring volume for double piles: Roots / day; the calculation results are directly used for the project's construction organization design, personnel allocation, and schedule control. 4. Standardized on-site construction operations: Takeoff and hovering: Before construction, the flight route planning and equipment debugging test are completed. The operator commands the UAV to take off from the loading point through the ground control system and hover stably at a height of 12m above the loading point (the sling length is 10m, and the hovering height is 1.2 times the sling length), keeping the horizontal attitude deviation of the fuselage not more than ±5°. Sling connection: Ground workers connect and lock the concrete hopper to the drone sling, adjust the sling angle to ensure the hopper is level, and after confirming that the lock is secure and the load is evenly distributed, issue a lifting command; Lifting and hoisting: The operator controls the drone to rise at a constant speed, so that the bucket is smoothly lifted 2m off the ground and then hovers. After confirming that the load is stable and there is no swaying, the flight program is started. Movement and Positioning: The UAV cruises along a preset route towards the target pile location area at a controlled speed of 5 m / s. During flight, the onboard obstacle avoidance system monitors obstacles such as trees and rocks in real time, automatically adjusting the flight path to avoid obstacles when the distance to an obstacle is less than 5 m. After reaching directly above the target pile, the UAV completes precise alignment using an RTK positioning system, with the positioning error controlled within ±10 cm. Placement and unloading: The drone descends vertically to a height of 0.5m from the pile foundation opening, and the unloading device is activated to complete the concrete pouring; after unloading, the drone is lifted vertically to a safe height and returns to the loading point along the return path to enter the next hoisting cycle. During the construction process, multiple DB2160 smart fast-charging batteries are configured to provide power in rotation. The charging time of a single battery is 8-9 minutes, and the charging capacity is controlled between 30% and 95%, ensuring continuous and uninterrupted construction operations for the drone.

[0070] Based on the above Examples 1-3, the following table 1 is derived: Table 1 shows the construction parameters and effect analysis of Examples 1-3.

[0071] Based on Table 1, the following key results can be obtained: The adaptability to steep terrain was fully verified. The slope of the sites in the three embodiments was greater than 30°, and traditional ground concrete pouring machinery could not pass through the site. However, the drone pouring scheme could be implemented stably, which proved that the method can effectively overcome the terrain limitations of steep mountainous areas and provide a feasible technical path for photovoltaic pile foundation construction in extremely high-altitude mountainous areas.

[0072] The performance degradation pattern at high altitudes is clear, and the quantitative correction is effective. As the site altitude increases from 3000m to 5000m, the actual effective payload of the UAV gradually decreases from 69kg to 62.5kg. At the same time, the operation cycle lengthens, the effective daily operation time shortens, and the cruise speed decreases, which directly reflects the impact of the decrease in air density at high altitudes on the reduction of lift, power, and endurance of the UAV. The payload degradation correction formula proposed in this method can accurately quantify the actual payload at different altitudes, providing a quantitative basis for equipment selection and payload design in different altitude scenarios, and avoiding the construction risks caused by performance degradation at high altitudes.

[0073] The pouring efficiency is affected by both altitude and pile size. The daily pouring efficiency does not decrease monotonically with increasing altitude: Example 3, despite having the highest altitude, actually had a higher daily pouring volume than Examples 1 and 2, which had lower altitudes, due to the smaller pouring volume per single pile (single / double pile). This indicates that the design dimensions of the pile foundation are one of the core factors affecting construction efficiency. The formulas for single pouring volume and daily efficiency in this method are adaptable to different pile types and altitudes, accurately quantifying the construction capacity of a single drone and providing data support for construction organization design, personnel allocation, and schedule planning.

[0074] The standardized construction process is universal and reliable. All three examples adopt the standardized procedure of "take-off and hovering - sling connection - hoisting and lifting - moving and positioning - placement and unloading". With the help of RTK high-precision positioning, airborne obstacle avoidance system and fast-charging battery rotation scheme, safe and continuous pile foundation pouring operation is achieved. The positioning error is controlled within ±10cm, which verifies the universality, stability and safety of the standardized operation process in different altitude and slope scenarios.

[0075] With a wide range of operating conditions and strong engineering applicability, this construction method can be adapted to the construction of photovoltaic pile foundations on steep mountain slopes with an altitude range of 3000~5000m and a slope range of 31°~40°. It can replace the traditional ground machinery and manual handling schemes, greatly reducing reliance on manpower and the risks of high-altitude operations, while ensuring construction efficiency.

[0076] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for constructing photovoltaic pile foundation concrete using unmanned aerial vehicles (UAVs) in extremely high-altitude, steep-slope mountainous areas, characterized by: Includes the following steps: S1. Construction scenario determination: Conduct terrain surveys of the mountainous photovoltaic area to be constructed to obtain data on site slope, altitude, and obstacle distribution; When the terrain slope in the area is greater than 30° and ground pouring machinery cannot pass, activate the drone-based pile foundation concrete pouring construction plan. S2. Selection of UAV equipment: Based on the altitude of the construction site and the performance degradation law of UAVs in high-altitude environments, the selection of a suitable heavy-load transport UAV is made by comprehensively considering the payload capacity, flight stability, terrain adaptability, endurance and positioning accuracy. S3. Quantitative calculation of hoisting capacity: Based on the effective payload of the selected UAV, concrete density, and design pouring volume of single / double piles, calculate the number of piles that can be poured in a single hoisting operation, and combine the work cycle and daily working hours to calculate the daily pouring construction efficiency. S4. On-site standardized construction operations are carried out in sequence, including take-off and hovering, sling connection, hoisting and lifting, moving and positioning, and placement and unloading, to complete the hoisting and pouring of pile foundation concrete in a cyclical manner.

2. The method for pouring concrete for photovoltaic pile foundations using unmanned aerial vehicles in extremely high-altitude, steep-slope mountainous areas according to claim 1, characterized in that: In step S2, the attenuation correction of the UAV's effective payload in high-altitude environments is calculated using the following algorithm formula: ； In the formula The actual effective payload of the drone at an altitude of H; The rated effective payload of the UAV at a plain baseline elevation of 0m; The load attenuation rate at an altitude of 4500m is 12% to 15%; H is the actual altitude of the construction site.

3. The method for pouring concrete for photovoltaic pile foundations using unmanned aerial vehicles in extremely high-altitude, steep-slope mountainous areas according to claim 1, characterized in that: The heavy-duty transport drone selected in step S2 must meet the following requirements: maximum operating altitude of not less than 5500m, rated effective payload of not less than 75kg on plains, wind resistance of not less than level 5, horizontal and vertical positioning accuracy of not less than ±10cm when RTK positioning is enabled, and flight time of not less than 20min under full load.

4. The method for pouring concrete for photovoltaic pile foundations using unmanned aerial vehicles in extremely high-altitude, steep-slope mountainous areas according to claim 1, characterized in that: The number of piles that can be poured in a single hoisting operation in step S3 is calculated using the following formula: For single pile foundations: ; For double-pile foundations: ; In the formula The number of single piles that can be poured in a single hoisting operation; V represents the number of double piles that can be poured in a single hoisting operation; V represents the volume of concrete that can be hoisted by the drone in a single operation. The concrete pouring volume for a single pile foundation; This refers to the concrete pouring volume of a single double-pile foundation.

5. The method for pouring concrete for photovoltaic pile foundations using unmanned aerial vehicles in extremely high-altitude, steep-slope mountainous areas according to claim 1, characterized in that: In step S3, the volume of concrete lifted by the drone in a single operation is controlled to be 1.2m³. 3 The complete cycle of a single hoisting operation is set at 30 minutes, and the effective working time per day is 8 hours.

6. The method for pouring concrete for photovoltaic pile foundations using unmanned aerial vehicles in extremely high-altitude, steep-slope mountainous areas according to claim 1, characterized in that: In step S3, the daily construction efficiency of a single drone for pouring pile foundations is calculated using the following algorithm formula: ； In the formula This represents the total number of piles of the corresponding pile type that can be poured by a single drone per day, expressed in piles per day. This refers to the effective daily work hours. The complete cycle of a single hoisting operation includes loading, flight, unloading, return, and charging time; N represents the number of corresponding pile foundations that can be cast in a single hoisting operation, in units of piles / operation.

7. The method for pouring concrete for photovoltaic pile foundations using unmanned aerial vehicles in extremely high-altitude, steep-slope mountainous areas according to claim 1, characterized in that, In the takeoff and hovering process of step S4, the UAV takes off above the ground loading point and hovers stably at the predetermined height. The hovering height is not less than 1.2 times the length of the sling. During the hovering process, the horizontal attitude deviation of the fuselage does not exceed ±5°.

8. The method for pouring concrete for photovoltaic pile foundations using unmanned aerial vehicles in extremely high-altitude, steep-slope mountainous areas according to claim 1, characterized in that: In step S4, during the movement and positioning process, the UAV travels along a preset three-dimensional flight path, and the cruising speed is controlled at 4~6m / s in the plateau environment. During the flight, the onboard obstacle avoidance system identifies trees and rock obstacles in front in real time. When the distance to the obstacle is less than the 5m safety threshold, the flight path is automatically adjusted to complete the avoidance.

9. The method for pouring concrete for photovoltaic pile foundations using unmanned aerial vehicles in extremely high-altitude, steep-slope mountainous areas according to claim 1, characterized in that: In the placement and unloading process of step S4, after the drone flies to the top of the target pile foundation, it completes precise alignment through RTK positioning, and then descends vertically to the unloading height to start the hopper unloading device. After unloading, the drone is vertically lifted to a safe height and returns to the loading point along the return path.

10. The method for pouring concrete for photovoltaic pile foundations using unmanned aerial vehicles in extremely high-altitude, steep-slope mountainous areas according to claim 1, characterized in that: During construction, smart fast-charging batteries are used to power the drones. The charging time for a single battery is 8 to 9 minutes, and the charging capacity ranges from 30% to 95%. Multiple batteries are configured for rotation to ensure continuous construction operations for the drones.

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