A tower hoisting system based on unmanned aerial vehicle laser radar

Abstract

The application relates to the technical field of tower cylinder construction, in particular to a tower cylinder hoisting system based on an unmanned aerial vehicle laser radar, which comprises an unmanned aerial vehicle and a receiving plate installed on a tower cylinder body, lug ears connected with hoisting equipment are arranged on the receiving plate, a laser radar is installed on the unmanned aerial vehicle, and the unmanned aerial vehicle flies around the tower cylinder body to detect the position of the tower cylinder body through the laser radar. The application has the effect of improving construction efficiency.

Description

Technical Field

[0001] This application relates to the technical field of tower construction, and in particular to a tower hoisting system based on UAV lidar. Background Technology

[0002] A wind turbine tower is the support structure for a wind turbine generator, primarily serving to support the turbine and absorb vibrations. The tower is constructed from multiple individual sections, which are then welded together to secure the sections.

[0003] In related technologies, when hoisting a single section of a wind turbine, the lifting equipment is usually installed using a four-point installation method on the top flange and a two-point installation method on the tail. That is, four lifting equipment are bolted to the top flange of the tube, and a support frame is set between the lifting equipment. The support frame is set inside the tube and supports multiple lifting equipment at the same time. A steel cable is connected between every two lifting lugs, and a pulley is provided in the middle. Two lifting lugs are provided at the tail to achieve the purpose of tailing.

[0004] The cylinder is lifted by a lifting device for splicing between cylinder sections. However, during the splicing process, it is inconvenient to accurately control the position of each cylinder section. The position of the cylinder section needs to be repeatedly corrected and adjusted during the splicing process, which affects the construction efficiency. Summary of the Invention

[0005] To improve construction efficiency, this application provides a tower hoisting system based on UAV lidar.

[0006] The tower hoisting system based on UAV lidar provided in this application adopts the following technical solution:

[0007] A tower hoisting system based on UAV lidar includes a UAV and a support plate installed on the tower body. The support plate is provided with lifting lugs that connect to hoisting equipment. The UAV is equipped with lidar, and the UAV flies around the tower body to detect the position of the tower body through the lidar.

[0008] By adopting the above technical solution, after the support plate is installed on the tower, the support plate is connected to the hoisting equipment for splicing. At the same time, a drone carrying a lidar flies around the tower body and uses the lidar to detect the position of the tower body to determine whether the tower body has been hoisted to the designated position, so as to make corrections and adjustments and improve construction efficiency.

[0009] Optionally, multiple receiving plates are arranged around the tower body. An installation rod is provided on the side of the receiving plate near the inside of the tower. An installation plate is provided on the installation rod. The installation plate and the tower body are coaxially arranged. The installation plate has a placement groove for installing the installation rod. The installation rod is slidably arranged in the installation groove in a direction away from the installation plate. An adjustment component is provided on the installation plate. The adjustment component is connected to the installation rod and is used to adjust the position of the installation rod.

[0010] By adopting the above technical solution, when installing the receiving plate, the position of the installation rod is adjusted by adjusting the component. The installation rod drives the receiving plate to move until the receiving plate moves to a designated position on the side of the tower body. By setting the installation rod to slide, the receiving plate can be adjusted to be installed and connected with tower bodies of different diameters, thereby improving installation efficiency.

[0011] Optionally, the adjustment assembly includes an adjustment rod, an adjustment plate, and a push plate. The adjustment rod and the mounting plate are coaxially arranged, and the adjustment rod is rotatably mounted on the mounting plate. The adjustment plate is sleeved on the outside of the adjustment rod, and the adjustment plate and the adjustment rod are threadedly connected. The adjustment plate and the mounting plate are spaced apart, and the push plate is disposed between the adjustment plate and the mounting rod. The push plate is rotatably connected to both the adjustment plate and the mounting rod. When the adjustment plate moves, the rotation of the push plate drives the mounting rod to move.

[0012] By adopting the above technical solution, the rotating adjusting rod drives the adjusting plate to move, and the adjusting plate drives the push plate to rotate while moving. The push plate drives the mounting rod to slide in the placement groove while rotating, and the mounting rod adjusts the position of the receiving plate while sliding.

[0013] Optionally, the mounting plate is provided with a support rod, and a support plate is provided at the end of the support rod away from the mounting plate. The support plate is sleeved on the outside of the adjusting rod. The adjusting rod is provided with a fixing thread groove and a fixing nut. The fixing nut is threadedly connected to the adjusting rod through the fixing thread groove. The fixing nut and the support plate abut against each other to fix the adjusting rod.

[0014] By adopting the above technical solution, after adjusting the position of the receiving plate by rotating the adjusting rod, the adjusting nut is then installed on the adjusting rod until the adjusting nut and the side of the support plate abut against each other, thus fixing the adjusting rod and fixing the position of the receiving plate, thereby improving the stability of the fit between the receiving plate and the tower body.

[0015] Optionally, the receiving plate is provided with a sliding groove, and multiple connecting plates are arranged around the mounting plate in the sliding groove. The connecting plates are slidably arranged around the mounting plate in the sliding groove. A connecting block is provided on the connecting plate, and a connecting hole is provided on the connecting block. A mounting hole is provided on the flange surface of the tower body, and the connecting hole and the mounting hole correspond to each other.

[0016] By adopting the above technical solution, the connecting plate is rotated so that the position of the connecting block and the mounting hole are aligned, which facilitates the connection of the connecting block to the tower body through the mounting hole and improves the installation efficiency.

[0017] Optionally, the connecting plate has a connecting groove, and the connecting block is slidably disposed in the connecting groove in the direction toward the mounting plate.

[0018] By adopting the above technical solution, the connecting block slides in the connecting groove. When installing tower bodies of different diameters, the position of the mounting hole will also change accordingly. By sliding the connecting block, the connecting block can be moved to move the connecting hole to correspond with the mounting hole, thereby further improving the installation efficiency.

[0019] Optionally, the receiving plate is provided with an extension, which is located on the side of the receiving plate near the interior of the tower body. The extension and the inner wall of the tower body are spaced apart. An intermediate plate is provided on the side of the extension near the side wall of the tower body. The abutting plate is located on the side of the intermediate plate away from the extension, and the abutting plate abuts against the inner wall of the tower body.

[0020] By adopting the above technical solution, the abutment plate and the inner wall of the tower body are abutted together, so that after installation, the inner wall of the tower body can be supported by the abutment plate, and the stability of the fit between the abutment plate and the tower body can be improved.

[0021] Optionally, the abutment plate is rotatably mounted on the intermediate plate, and the rotation axis of the abutment plate and the center line of the tower are aligned on the same straight line.

[0022] By adopting the above technical solution, the abutment plate is rotatably set, so that when hoisting tower bodies of different diameters, the abutment plate can rotate and abut against the inner wall of the tower body, thereby increasing the contact area between the abutment plate and the inner wall of the tower body and improving the stability of the fit between the abutment plate and the tower body.

[0023] Optionally, two adjusting plates are provided, each disposed on one side of the mounting plate. Two push plates and two mounting rods are provided correspondingly. The two push plates are rotatably connected to the two adjusting plates. The adjusting rod is provided with two threaded portions with opposite thread directions, and the adjusting rod is threadedly connected to the adjusting plate through the threaded portions.

[0024] By adopting the above technical solution, two threaded parts with opposite directions are set. When the adjusting rod is rotated, the adjusting rod drives the two adjusting plates to move in opposite directions through the two sets of threaded parts. When the adjusting plates move, the mounting rod is driven to move simultaneously through the two sets of push plates, thereby improving the stability of the mounting rod when it moves.

[0025] Optionally, multiple sets of push plates are provided, with each set of push plates corresponding to a different mounting rod. The multiple sets of push plates are arranged around the adjusting rod, and the adjusting plate is simultaneously connected to multiple sets of push plates.

[0026] By adopting the above technical solution, multiple sets of push plates are connected to the adjustment plate. When the adjustment plate moves, it drives multiple sets of push plates to rotate simultaneously, thereby adjusting the position of multiple receiving plates at the same time and improving construction efficiency.

[0027] In summary, this application includes the following beneficial technical effects: the UAV carrying a lidar flies around the tower body, detects the position of the tower body during the tower body splicing process, and adjusts the tower body to the designated position based on the detection results, so as to complete the tower body splicing and improve the construction efficiency of the tower body. Attached Figure Description

[0028] Figure 1 This is a structural schematic diagram of a tower hoisting system based on UAV lidar according to an embodiment of this application.

[0029] Figure 2 This is a partial sectional view of the tower body in the tower hoisting system based on UAV lidar according to an embodiment of this application.

[0030] Figure 3 This is a structural view of the adjusting rod in the tower hoisting system based on UAV lidar according to an embodiment of this application.

[0031] Figure 4 This is a structural view of the adjustment component in the tower hoisting system based on UAV lidar according to an embodiment of this application.

[0032] Figure 5 This is a structural view of the receiving plate in the tower hoisting system based on UAV lidar according to an embodiment of this application.

[0033] Figure 6 This is a structural view of the extension in the tower hoisting system based on UAV lidar according to an embodiment of this application.

[0034] Reference numerals: 1. Tower body; 11. Mounting hole; 2. Support plate; 21. Slide groove; 3. Lifting lug; 4. Mounting rod; 5. Mounting plate; 51. Mounting groove; 6. Adjusting assembly; 61. Adjusting rod; 611. Threaded part; 612. Fixing thread groove; 613. Fixing nut; 62. Adjusting plate; 63. Push plate; 7. Support rod; 71. Support plate; 8. Connecting plate; 81. Connecting block; 82. Connecting groove; 9. Extension; 91. Intermediate plate; 92. Abutment plate. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0036] This application discloses a tower hoisting system based on UAV lidar. (Refer to...) Figure 1 and Figure 2 The tower hoisting system based on UAV lidar includes a support plate 2 connected to the tower body 1. The support plate 2 is connected to the flange face on the tower body 1 via bolts and nuts. Lifting lugs 3 are provided on the support plate 2. Lifting equipment is connected to the lifting lugs 3 via lifting ropes, thereby lifting the tower body 1 through the support plate 2. The hoisting system also includes a UAV and lidar, with the lidar mounted on the UAV. During the assembly of the tower body 1, the UAV flies around the outer circumference of the tower body 1 while hovering and emitting lasers at fixed points using the lidar. This detects the horizontal and vertical alignment of the tower body 1 at designated locations during assembly, monitoring the overall cumulative verticality of the tower body 1 in real time during construction. This allows for positional correction and adjustment of the tower body 1 during installation, improving the construction accuracy and efficiency of the tower body 1.

[0037] Reference Figure 2 and Figure 3 Multiple support plates 2 are provided, spaced apart around the tower body 1. Mounting rods 4 are provided on the support plates 2, located on the side of the support plate 2 closest to the interior of the tower body 1. Mounting plates 5 are mounted on the mounting rods 4, coaxially aligned with the center of the tower body 1. Mounting grooves 51 are formed on the mounting plates 5, corresponding to multiple support plates 2. The mounting rods 4 slide within the mounting grooves 51. An adjusting assembly 6 is provided on the mounting plates 5, connected to the mounting rods 4, and used to adjust the position of the mounting rods 4. When connecting the support plates 2 and the tower body 1, the diameter of the tower body 1 at different positions is adjusted by the adjusting assembly 6 to adjust the position of the mounting rods 4, thereby adjusting the position of the support plates 2, ensuring that the ends of the support plates 2 and the tower body 1 correspond, allowing the support plates 2 to connect with tower bodies 1 of different diameters.

[0038] Reference Figure 3 and Figure 4The adjusting assembly 6 includes an adjusting rod 61, an adjusting plate 62, and a push plate 63. The adjusting rod 61 passes through the mounting plate 5 and is rotatably mounted on the mounting plate 5. The adjusting rod 61 and the mounting plate 5 are coaxially arranged. The adjusting plate 62 is sleeved on the outside of the adjusting rod 61 and is threadedly connected to the adjusting rod 61. The push plate 63 is disposed between the ends of the adjusting plate 62 and the mounting rod 4. One side of the push plate 63 is rotatably connected to the adjusting plate 62, and the opposite side is rotatably connected to the mounting rod 4. The adjusting plate 62 and the mounting plate 5 are spaced apart, that is, the push plate 63 is in an inclined state. Rotating the adjusting rod 61 causes the adjusting plate 62 to move, which in turn causes the push plate 63 to rotate. As the push plate 63 rotates, it causes the mounting rod 4 to move within the mounting groove 51, thereby adjusting the position of the receiving plate 2.

[0039] Reference Figure 3 and Figure 4 Two adjusting plates 62 are provided, one on each side of the mounting plate 5. Two push plates 63 and two mounting rods 4 are also provided, with the push plates 63 rotatably connected to the two adjusting plates 62. Two threaded portions 611 are provided on the adjusting rod 61 to mate with the adjusting plates 62. Each threaded portion 611 corresponds to one adjusting plate 62. The adjusting rod 61 engages with the adjusting plates 62 through the threaded portions 611. The threads of the two threaded portions 611 are in opposite directions, so that rotating the adjusting rod 61 causes the two adjusting plates 62 to move simultaneously in opposite directions. Simultaneously, the push plates 63 move the mounting rods 4, improving the stability of the mounting rods 4 during movement.

[0040] Reference Figure 3 and Figure 4 Multiple sets of push plates 63 are provided, each corresponding to a different mounting rod 4. The push plates 63 are arranged around an adjusting rod 61. An adjusting plate 62 is connected to multiple sets of push plates 63. When the adjusting rod 61 rotates, causing the adjusting plate 62 to move, the adjusting plate 62, through the multiple sets of push plates 63, simultaneously moves multiple mounting rods 4, thereby simultaneously adjusting the positions of multiple receiving plates 2. During installation, the mounting plate 5 is placed inside the tower body 1, one of the receiving plates 2 is connected to the tower body 1, and then the positions of the remaining receiving plates 2 are adjusted to their designated positions on the tower body 1, so that multiple receiving plates 2 can be installed sequentially.

[0041] Reference Figure 1 and Figure 2A support rod 7 is provided on the mounting plate 5. A support plate 71 is provided at the end of the support rod 7 facing away from the mounting plate 5. The support plate 71 is sleeved on the outside of the support rod 7 and is located on the side of the adjusting plate 62 facing away from the mounting plate 5, with the support plate 71 and the adjusting plate 62 spaced apart. A fixing threaded groove 612 is provided on the adjusting rod 61, corresponding to the support plate 71. A fixing nut 613 is provided on the adjusting rod 61, and the fixing nut 613 is threadedly connected to the adjusting rod 61 through the threaded groove. After adjusting the position of the mounting rod 4 and the receiving plate 2 by rotating the adjusting rod 61, the fixing bolt is rotated until the side of the fixing nut 613 abuts against the support plate 71, thereby adjusting the position of the adjusting rod 61 and fixing the position of the mounting rod 4.

[0042] Reference Figure 5 and Figure 6 A sliding groove 21 is provided on the receiving plate 2, and multiple connecting plates 8 are arranged in the sliding groove 21. The connecting plates 8 are slidably arranged around the mounting plate 5 in the sliding groove 21. A connecting block 81 is provided on the connecting plate 8, and a connecting hole is provided on the connecting block 81. The connecting hole corresponds to the mounting hole 11 on the flange face of the tower body 1. During installation, bolts are used to connect the receiving plate 2 and the tower body 1 through the connecting hole and the mounting hole 11 on the flange face of the tower body 1, thereby realizing the connection between the receiving plate 2 and the tower body 1. At the same time, the connecting plate 8 is slidably connected in the sliding groove 21, so that the position of the sliding connecting plate 8 moves the connecting block 81, so that the position of the connecting hole corresponds to the mounting hole 11 on the tower body 1 of different diameters, so that the receiving plate 2 can be connected to the tower body 1 of different diameters.

[0043] Reference Figure 5 and Figure 6 The connecting plate 8 is positioned towards the mounting plate 5. A connecting groove 82 is provided on the connecting plate 8, extending along its length. A connecting block 81 is positioned within the connecting groove 82, also extending along its length. This allows the connecting block 81 to slide and align with the mounting hole 11 after the position of the connecting plate 8 is adjusted, further improving installation efficiency.

[0044] Reference Figure 5 and Figure 6An extension 9 is provided on the receiving plate 2, located on the side of the receiving plate 2 near the interior of the tower body 1, and spaced apart from the inner wall of the tower body 1. An intermediate plate 91 and an abutment plate 92 are provided on the extension 9, with two sets of intermediate plates 91 and abutment plates 92 spaced apart around the mounting plate 5. The intermediate plate 91 is located on the side of the extension 9 near the tower body 1, and the abutment plate 92 is located on the side of the intermediate plate 91 away from the extension 9, abutting against the inner wall of the tower body 1. When the receiving plate 2 moves, it moves the abutment plate 92 to engage with the inner wall of the tower body 1, thus moving the receiving plate 2 to a designated position. The two sets of abutment plates 92 increase the contact area with the tower body 1, further enhancing the stability of their engagement. The abutment plate 92 is arc-shaped and is rotatably mounted on the intermediate plate 91. The rotation axis of the abutment plate 92 is set in a direction parallel to the axis of the tower body 1. When the receiving plate 2 moves and drives the abutment plate 92 to abut against the inner wall of the tower body 1, the abutment plate 92 rotates so that the abutment plate 92 abuts against the inner wall of the tower body 1 with different diameters, thereby improving the stability of the fit between the abutment plate 92 and the tower body 1.

[0045] The implementation principle of this application is as follows: one of the receiving plates 2 is connected to the tower body 1, and then the adjusting rod 61 is rotated to drive the installation rod 4 to move through the push plate 63. The movement of the installation rod 4 drives the remaining receiving plates 2 to move to cooperate with the side of the tower body 1. Then, the connecting plate 8 and the connecting block 81 are slid in sequence so that the connecting block 81 corresponds with the mounting hole 11. Then, multiple receiving plates 2 are connected to the tower body 1 in sequence. Then, the tower body 1 is lifted by the lifting equipment through the receiving plates 2. At the same time, a drone carrying a laser radar flies at the designated trajectory position to measure the position of the tower body 1. The position of the tower body 1 is adjusted and corrected according to the measurement results so that the tower body 1 can be installed in the designated position, thereby improving the installation efficiency.

[0046] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A UAV LiDAR based tower hoisting system, characterized by: The utility model relates to a kind of unmanned aerial vehicle and installation plate (2) on tower body (1), the lug (3) for being connected with hoisting equipment is provided on the installation plate (2), laser radar is installed on unmanned aerial vehicle, unmanned aerial vehicle flies around tower body (1), and the position of tower body (1) is detected by laser radar; Multiple installation plates (2) are provided around tower body (1), and the side close to the inside of tower body (1) of the installation plate (2) is provided with mounting rod (4), the mounting rod (4) is provided with mounting plate (5), the mounting plate (5) is coaxially arranged with tower body (1), the mounting plate (5) is provided with placing groove for mounting mounting rod (4), the mounting rod (4) is slidably arranged in mounting groove (51) in the direction away from the mounting plate (5), the mounting plate (5) is provided with adjusting assembly (6), the adjusting assembly (6) is connected with mounting rod (4), and the adjusting assembly (6) is used for adjusting the position of mounting rod (4); The adjusting assembly (6) includes adjusting rod (61), adjusting plate (62) and push plate (63), the adjusting rod (61) is coaxially arranged with the mounting plate (5), and the adjusting rod (61) is rotatably arranged on the mounting plate (5); the adjusting plate (62) is sleeved outside the adjusting rod (61), and the adjusting plate (62) is threadedly connected with the adjusting rod (61); the adjusting plate (62) is spaced apart from the mounting plate (5); the push plate (63) is arranged between the adjusting plate (62) and the mounting rod (4); the push plate (63) is rotatably connected with the adjusting plate (62) and the mounting rod (4); when the adjusting plate (62) moves, the mounting rod (4) moves by the rotation of the push plate (63) driven by the push plate (63); The mounting plate (5) is provided with support rod (7), one end of the support rod (7) away from the mounting plate (5) is provided with support plate (71), the support plate (71) is sleeved outside the adjusting rod (61), the adjusting rod (61) is provided with fixed screw groove (612), the adjusting rod (61) is provided with fixed nut (613), the fixed nut (613) is threadedly connected with the adjusting rod (61) through the fixed screw groove (612), and the fixed nut (613) and the support plate (71) abut to fix the adjusting rod (61); The installation plate (5) is provided with multiple connecting plates (8) around the installation plate (5), the connecting plate (8) is slidably arranged in the sliding groove (21) around the installation plate (5), the connecting plate (8) is provided with connecting block (81), the connecting block (81) is provided with connecting hole, the flange surface of the tower body (1) is provided with mounting hole (11), and the connecting hole and the mounting hole (11) correspond; The connecting plate (8) is provided with connecting groove (82), and the connecting block (81) is slidably arranged in the connecting groove (82) in the direction towards the installation plate (5). The extension part (9) is arranged on the receiving plate (2), close to the inner side of the tower body (1), and is arranged at a distance from the inner wall of the tower body (1), and the extension part (9) is provided with an intermediate plate (91) close to one side of the side wall of the tower body (1), and the side, away from the extension part (9), of the intermediate plate (91) is provided with an abutting plate (92) abutting against the inner wall of the tower body (1).

2. The unmanned aerial vehicle lidar-based tower hoisting system of claim 1, wherein: The abutting plate (92) is rotatably arranged on the intermediate plate (91), and the rotation axis of the abutting plate (92) and the center line of the tower body (1) are arranged on the same straight line.

3. The UAV LiDAR based tower hoisting system of claim 1, wherein: The adjusting plate (62) is provided with two, and the two adjusting plates (62) are arranged on both sides of the mounting plate (5), respectively, and the push plate (63) and the mounting rod (4) are correspondingly provided with two, and the two push plates (63) are rotatably connected with the two adjusting plates (62), respectively, and the adjusting rod (61) is provided with two thread parts (611) with opposite screw directions, and the adjusting rod (61) is connected with the adjusting plate (62) through the thread part (611).

4. The UAV LiDAR-based tower hoisting system of claim 3, wherein: The push plate (63) is provided with multiple groups, and the multiple groups of push plates (63) and the multiple mounting rods (4) are one-to-one correspondingly arranged, and the multiple groups of push plates (63) are arranged around the adjusting rod (61), and the adjusting plate (62) is connected with the multiple groups of push plates (63) at the same time.

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