A super-high wind power tower drum construction method fusing laser radar and unmanned aerial vehicle

Abstract

The application relates to the technical field of wind power construction, in particular to a super-high wind power tower drum construction method combining a laser radar and an unmanned aerial vehicle, which comprises the following steps: debugging the unmanned aerial vehicle and the laser radar equipment; in the process of assembling multiple concrete tower pieces, the laser radar is used for measurement and control to ensure that the assembled concrete tower pieces meet the design requirements; a multilayer concrete tower drum is assembled, in the assembling process, the unmanned aerial vehicle carries the laser radar to fly around the concrete tower drum and emits laser beams towards the concrete tower drum, and the perpendicularity of each layer of the concrete tower drum is monitored in real time; steel strands are arranged on the concrete tower drum to connect the multilayer concrete tower drum into a whole; in the prestress tension process of the steel strands, the unmanned aerial vehicle carries the laser radar to fly around the concrete tower drum and in the height direction of the concrete tower drum, and the stability deflection angle of the concrete tower drum is monitored in real time; the application has the effects of improving the installation precision of the concrete tower drum and shortening the construction period of the wind power tower drum.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of wind power construction, in particular to a super-high wind power tower drum construction method combining a laser radar and a UAV. BACKGROUND

[0002] Under the new trend, the height of a new tower drum reaches more than 100 meters, and higher requirements are put forward for the rigidity of the tower drum, and the traditional steel structure tower drum cannot well meet the requirements of a wind power generator on structural bearing capacity, reliability and transportation and the like; in the related art, a concrete-steel hybrid tower drum organically combines a prestressed concrete tower drum and a steel tower drum, the lower part is replaced by a more economical concrete material instead of steel, and the upper part adopts a pure steel tower, and this structural form can fully utilize the material mechanical properties of concrete bearing and steel tension. In the construction of the concrete-steel hybrid tower drum, the construction quality of a tower section is crucial, and it is necessary to focus on and control the construction quality to avoid causing huge safety hazards and economic losses; considering the construction requirements and construction difficulty of the hybrid tower drum, a prefabricated and assembled tower drum emerges as the times require, and at present, most of the prefabricated and assembled concrete tower drums adopt segmented and split type assembly, the so-called split type assembly refers to that each section of the concrete tower drum is assembled by a plurality of prefabricated concrete components, the weight and size of a single prefabricated concrete component are small, and transportation is convenient. In order to ensure the construction quality of the split type assembled tower drum, each prefabricated concrete component needs to be hoisted and positioned, the joints of adjacent prefabricated components are sealed by fast-hardening cement, and then the adjacent prefabricated components are connected through high-pressure grouting, and the tower drum section is formed after the grouting material is hardened.

[0003] In the existing super-high wind power tower drum construction, a total station instrument or a laser scanner is generally used for measurement control, the total station instrument measurement control has large workload and low efficiency, and the prism operation is inconvenient or the line of sight is disturbed, which may cause serious decline of the measurement accuracy; although the laser scanner measurement control solves the problem of inconvenient operation of the total station instrument to a certain extent and improves the measurement accuracy, the laser large surface scanning process takes a long time, the coordination efficiency between workers is low, the maneuverability is poor, and real-time monitoring of the tower drum cannot be realized. SUMMARY

[0004] In order to improve the installation accuracy of the concrete tower drum and shorten the construction period of the installed wind power tower drum, the application provides a super-high wind power tower drum construction method combining a laser radar and a UAV.

[0005] The super-high wind power tower drum construction method combining the laser radar and the UAV provided by the application adopts the following technical scheme:

[0006] A super-high wind power tower drum construction method combining a laser radar and a UAV, comprising the following steps:

[0007] Debugging equipment: adjust the parameters of the unmanned aerial vehicle and the laser radar equipment;

[0008] Assembling each section of the concrete tower: assembling each layer of the concrete tower piece respectively, and in the assembling process, the unmanned aerial vehicle carrying the laser radar flies to the position where measurement and control are needed to be performed to ensure that the roundness of each section of the concrete tower meets the design requirements after the assembly of the concrete tower piece is completed;

[0009] Assembling the multi-layer concrete tower: assembling each layer of the concrete tower on the base of the wind turbine generator, and in the assembling process, the unmanned aerial vehicle carrying the laser radar flies around the concrete tower and emits a laser beam towards the concrete tower to monitor the verticality of each layer of the concrete tower in real time;

[0010] Percussive steel strand: after the multi-layer concrete tower is assembled, the steel strand is threaded on the multi-layer concrete tower to connect the multi-layer concrete tower into a whole;

[0011] Tensioning the steel strand: in the process of prestressed tensioning the threaded steel strand, the unmanned aerial vehicle carrying the laser radar flies around the concrete tower and along the height direction of the concrete tower, and in the flying process, the laser radar emits a laser beam towards the concrete tower to monitor the stability angle of the concrete tower in real time until the multi-layer concrete tower tensioning construction is completed;

[0012] Installing the steel tower: hoisting and fixing the steel tower on the top of the assembled concrete tower.

[0013] By adopting the above technical scheme, when assembling the concrete tower of the wind turbine generator, the concrete tower piece is spliced from each concrete tower piece. Since the height of each concrete tower piece is high, the existing measurement method has the problems of inaccurate measurement and control and relatively troublesome manual operation of the equipment for measurement and control. The unmanned aerial vehicle can carry the laser radar to measure and control the concrete tower piece by means of free flight and the function of fixed-point hovering. The laser radar has the effect of accurate measurement and control, and the laser radar can quickly move to the monitoring point for measurement and control in combination with the unmanned aerial vehicle, thereby improving the measurement efficiency and solving the problem of error in manual measurement and control.

[0014] Optionally, the two ends of the concrete tower piece are provided with a protruding part and a recessed part, and the end faces of the adjacent two concrete tower pieces are connected by the protruding part and the recessed part.

[0015] By adopting the above technical scheme, when the adjacent two concrete tower pieces are spliced, the protruding part and the recessed part on the concrete tower piece can be inserted and connected with the recessed part and the protruding part on the adjacent concrete tower piece, thereby limiting the adjacent two concrete tower pieces and preventing the horizontal sliding of the two concrete tower pieces after the splicing of the adjacent concrete tower pieces is completed.

[0016] Optionally, a connecting assembly is arranged between the two adjacent concrete tower pieces, the connecting assembly comprises a fixing plate fixed to the inner wall of the concrete tower piece and close to the position of one side edge, a connecting hole is formed in the fixing plate, and a connecting piece is arranged between the two fixing plates of the two adjacent concrete tower pieces, the connecting piece comprises a pair of connecting rods, one end of the connecting rod is inserted into the connecting hole of the corresponding fixing plate, the ends of the two connecting rods are arranged towards each other, and a connecting sleeve is arranged between the two ends, and the ends of the two connecting rods are threadedly connected with the connecting sleeve.

[0017] By adopting the above technical scheme, when the two adjacent concrete tower pieces are spliced, the ends of the two connecting rods are inserted into the connecting holes of the corresponding fixing plates, and then the connecting sleeve is rotated to move the two connecting rods towards the opposite direction, thereby gradually tightening the two adjacent concrete tower pieces, and achieving the purpose of fixing the two adjacent concrete tower pieces.

[0018] Optionally, during the assembly of the plurality of concrete tower pieces on each concrete tower cylinder, the unmanned aerial vehicle hovers at the position of the splicing point monitoring point outside the concrete tower cylinder to measure, and the laser radar emits horizontal and vertical light beams towards the outer wall of the concrete tower cylinder to measure the perpendicularity of the concrete tower cylinder.

[0019] By adopting the above technical scheme, when splicing the concrete tower pieces, the unmanned aerial vehicle can carry the laser radar to measure the concrete tower pieces by virtue of the good maneuverability of the unmanned aerial vehicle, and during the measurement process, the laser radar can emit laser beams for measurement and control towards the concrete tower pieces, so as to quickly obtain the measurement data, and the staff can directly judge whether the concrete tower pieces are installed in place according to the data.

[0020] Optionally, during the splicing of the adjacent concrete tower pieces, the laser radar is used to measure and control the positions of the upper and lower endpoints of the connection between the two adjacent concrete tower pieces.

[0021] By adopting the above technical scheme, during the splicing of the two adjacent concrete tower pieces, there is a splicing joint between the two concrete tower pieces, and by monitoring the data of the upper and lower ends of the splicing joint, the installation of the concrete tower pieces to the correct position can be controlled, and the perpendicularity of the concrete tower pieces is ensured, and after the splicing of the concrete tower pieces of the layer is completed, the roundness of the concrete tower cylinder can meet the design requirements, thereby facilitating subsequent hoisting.

[0022] Optionally, the connecting assembly is arranged between the two adjacent concrete tower pieces.

[0023] By adopting the technical scheme, the multiple sets of connecting assemblies arranged between the two adjacent concrete tower pieces can fix the positions of the two concrete tower pieces after measurement, prevent the positions of the concrete tower pieces from changing after measurement, and improve the connecting strength between the two concrete tower pieces, thereby preventing the concrete tower from being broken at the joint position under the action of external force after assembly.

[0024] Optionally, during hoisting of each concrete tower cylinder, the unmanned aerial vehicle flies around the outside of the concrete tower cylinder, hovers at fixed points at certain angles, and emits horizontal and vertical light beams from the outside of the concrete tower cylinder through the laser radar to monitor the center coordinates of the concrete tower cylinder and compare the center coordinates with initial center coordinates, and monitor whether the verticality during stacking of the concrete tower cylinder meets the requirements.

[0025] By adopting the technical scheme, when the concrete tower cylinder is hoisted, the height of the concrete tower cylinder gradually increases, the existing measurement method cannot continue to be used, and there are problems of inconvenience and inaccuracy in measurement. The unmanned aerial vehicle with good maneuverability can move the laser radar for measurement to the position at the same height of the hoisted concrete tower cylinder, thereby improving the measurement accuracy of the concrete tower cylinder.

[0026] Optionally, the inner walls between the two adjacent concrete tower cylinders above and below are provided with multiple sets of horizontal adjusting assemblies, and the multiple sets of horizontal adjusting assemblies are uniformly distributed along the annular concrete tower cylinder. The horizontal adjusting assembly is used to control the center of the two adjacent concrete tower cylinders above and below to be located in a range required by design.

[0027] By adopting the technical scheme, when the two concrete tower cylinders above and below are assembled by the laser radar, the upper concrete tower cylinder cannot be aligned in place at one time in general. When the upper concrete tower cylinder is hoisted above the lower concrete tower cylinder, the upper concrete tower cylinder can be installed at a general position of the lower concrete tower. Then, the upper concrete tower cylinder is slightly adjusted on the lower concrete tower cylinder by the horizontal adjusting assembly, so that the upper concrete tower cylinder is adjusted to a correct position and the center of the upper concrete tower cylinder overlaps the center of the lower concrete tower cylinder.

[0028] Optionally, when the steel strand is tensioned, the unmanned aerial vehicle circulates along the height direction of the wind tower cylinder. During flight, the unmanned aerial vehicle captures images of the concrete tower cylinder by using the camera mounted thereon, generates dense point clouds on the background equipment, and generates a three-dimensional model of the concrete tower cylinder.

[0029] By adopting the technical scheme, the tensioning process can be monitored in real time, irreversible damage of the concrete tower drum caused by wind vibration is avoided, and the stability angle of the concrete tower drum is monitored in real time by the laser radar through the flight design of the unmanned aerial vehicle flying around the concrete tower drum, so that the angle of the concrete tower drum is prevented from being too large, the high-quality construction of the concrete tower drum is ensured, and the problem of excessive prestress tension of the concrete is prevented.

[0030] In summary, the present application includes at least one of the following beneficial technical effects:

[0031] 1. The fusion of the unmanned aerial vehicle and the laser radar according to the embodiment of the present application forms a diversified measurement method, realizes a measurement method that cannot be realized by the existing total station and laser scanner, and improves the quality of the installation of the concrete tower drum compared with the two, the measurement scene involved in the concrete tower drum assembly process, the concrete tower drum hoisting process and the concrete tower drum tensioning construction is diversified, and the control standard is diversified, and the above three measurement and control can be realized through the fusion of the unmanned aerial vehicle and the laser radar, the measurement and control technology of the fusion of the laser radar and the unmanned aerial vehicle solves the problem of poor maneuverability of the traditional measurement and control method, gives a diversified measurement method, and improves the construction quality of the concrete tower drum.

[0032] 2. Efficient construction, shortening the construction period: in the concrete tower drum construction process, in order to guarantee the quality index requirements of each project, a large number of monitoring points need to be controlled and a large amount of measurement work needs to be done, the measurement and control technology of the fusion of the laser radar and the unmanned aerial vehicle solves the problem of large measurement workload and low coordination rate of the traditional measurement and control method through the constant speed cruise of the unmanned aerial vehicle, and shortens the construction period. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a method step diagram of the embodiment of the present application.

[0034] Figure 2 is a schematic diagram of the overall structure of the concrete tower drum according to the embodiment of the present application.

[0035] Figure 3 is a schematic diagram of the protruding part and the groove part of the concrete tower piece according to the embodiment of the present application.

[0036] Figure 4 is a schematic diagram of the connection assembly and the horizontal adjustment assembly according to the embodiment of the present application.

[0037] Figure 5 is a measurement and control schematic diagram of the installation of adjacent two concrete tower pieces according to the embodiment of the present application.

[0038] Figure 6 is a measurement and control schematic diagram of the assembly of adjacent two concrete tower drums according to the embodiment of the present application.

[0039] Figure 7 is a measurement and control schematic diagram for the embodiment of the present application to measure the deviation of the center of the circle of the adjacent two concrete tower drums.

[0040] Figure 8 is a measurement and control schematic diagram for the embodiment of the present application to measure the tensioned steel strand Figure 1 .

[0041] Figure 9 is a measurement and control schematic diagram for the embodiment of the present application to measure the tensioned steel strand Figure 2 .

[0042] BRIEF DESCRIPTION OF DRAWINGS: 1, concrete tower drum; 11, concrete tower piece; 12, protruding part; 13, groove part; 2, connecting assembly; 21, fixed plate; 22, connecting rod; 23, connecting sleeve; 3, horizontal adjusting assembly; 31, positioning assembly; 311, positioning column; 312, positioning rod; 313, positioning seat; 32, mounting adjusting assembly; 321, positioning ring; 322, mounting rod; 323, mounting seat; 324, positioning bolt; 4, steel strand; 41, tensioning hoop; 5, tensioning plate. DETAILED DESCRIPTION

[0043] The following will be described in detail with reference to the accompanying Figures 1-9 The present application will be further described in detail.

[0044] The embodiment of the present application discloses a super-high wind power tower drum construction method combining laser radar and unmanned aerial vehicle.

[0045] Referring to Figure 1 , a super-high wind power tower drum construction method combining laser radar and unmanned aerial vehicle includes the following steps:

[0046] S1: installing and debugging measurement and control equipment

[0047] The laser radar and the optical camera are installed on the unmanned aerial vehicle, and the parameters of the laser radar and the camera are adjusted, and the parameters of the two devices are calibrated to eliminate the error influence caused by distortion and time space asynchronization. Before formal measurement and control, the laser radar and the optical camera carried by the unmanned aerial vehicle are checked, any object in the construction site is measured first to ensure the accuracy of the measurement data of the laser radar carried by the unmanned aerial vehicle.

[0048] When measuring the wind power tower drum, the laser radar and the camera carried by the unmanned aerial vehicle are used for measurement and control in the present application. Before use, the two devices need to be debugged and parameter calibrated. The specific calibration steps are as follows:

[0049] A1: Due to the imaging principle, the camera cannot avoid distortion. The present application adopts Zhang Zhengyou calibration method, uses the camera to take pictures of the black and white checkerboard from different directions to obtain calibration data, so as to calibrate the intrinsic parameters of the camera.

[0050] A2: In order to make the image frame data correspond to the point cloud data one by one and avoid redundancy, the camera and the lidar need to be time-synchronized, and a data soft synchronization method based on timestamp data neighborhood matching is adopted.

[0051] A3: There is a certain spatial difference between the camera and the lidar, in order to avoid causing errors, the two need to be jointly calibrated, first the lidar coordinate system calibration features are extracted, then the camera coordinate system calibration features are extracted, and finally the parameters are solved to complete the joint calibration.

[0052] A4: In an open scene, the point cloud image is obtained by scanning the calibration board with the lidar, and the region of interest of the calibration board is obtained by cropping the point cloud image. In this range, the M-estimator sampling consistency algorithm is used to fit the plane of the point cloud in the region, and the plane fitting equation of the calibration board point cloud is obtained, and then the normal vector of the calibration board plane is obtained. The inliers obtained by the fitting algorithm are projected onto the fitted plane, and according to the Y-axis coordinate value, the extreme points of the points obtained by each scanning line beam are distinguished, and the left and right boundary points of the calibration board are obtained according to the extreme points, and the straight line equation of the boundary is obtained by linear fitting. At this point, two boundary straight lines of the upper half of the calibration board have been obtained, and the same method is used to obtain two boundary straight lines of the lower half. The intersection of the four straight line equations is obtained, and the center point of the calibration board in the radar coordinate system is obtained.

[0053] A5: In an open scene, the image is obtained by shooting the calibration board with the camera, and in the image data matched with the point cloud data, the pixel coordinates of the corner points are recognized by using the corner recognition function in the OpenCV library. Then, the pixel coordinates of the corner points and the camera intrinsic parameters obtained in A1 are used as input, and the N-point perspective transformation algorithm is used to solve the rotation and translation parameters of the calibration board for the camera coordinate system, and then the rotation and translation parameters are used to solve the center point coordinates and the plane normal vector of the calibration board in the camera coordinate system, and further obtain the four corner point coordinates of the calibration board.

[0054] A6: Repeat steps A4-A5 to obtain multiple sets of corner point and normal vector features (at least six sets) of the lidar and the camera. Solve the 11 unknown parameters in the rotation and translation matrix. To reduce errors, collect multiple sets of data for iterative optimization until the target loss function is less than the set threshold.

[0055] S2: Assemble each section of the concrete tower 1

[0056] Reference Figure 2 and Figure 3In the embodiment of the application, the concrete tower 1 comprises 27 segments, each segment is assembled by four concrete tower pieces 11, the four concrete tower pieces 11 of each segment are preformed in the factory and transported to the construction site for assembly, the splicing surface of the concrete tower piece 11 is provided with a protruding part 12 and a groove part 13, when the two adjacent concrete tower pieces 11 are spliced, the protruding part 12 on one of the two adjacent concrete tower pieces 11 is inserted into the groove part 13 on the other concrete tower piece 11, and the groove part 13 on one of the two adjacent concrete tower pieces 11 is inserted into the protruding part 12 on the other concrete tower piece 11, in the embodiment of the application, the cross section of the splicing surface of the concrete tower piece 11 is Z-shaped, when installed, the Z-shaped splicing surfaces are clamped with each other, which limits the sliding constraint of the adjacent concrete tower pieces 11 in the plane.

[0057] With reference to Figure 2 And Figure 4 In the process of assembling the concrete tower piece 11, the first concrete tower piece 11 is hoisted to the installation platform and fixed, then the second concrete tower piece 11 is hoisted to the installation platform, and the protruding part 12 and the groove part 13 at the splicing surface of the two concrete tower pieces 11 can be clamped and matched, then the third and fourth concrete tower pieces 11 are spliced in the above-mentioned manner, when the four concrete tower pieces 11 are spliced, the four concrete tower pieces 11 can support each other and maintain a vertical state under the cooperation of the protruding part 12 and the groove part 13, a connecting assembly 2 is arranged between the two adjacent concrete tower pieces 11, the connecting assembly 2 comprises a fixed plate 21 fixed to the inner wall of the concrete tower piece 11 and close to the position of the two side edges, the fixed plate 21 is horizontally arranged, and the two fixed plates 21 on the two adjacent concrete tower pieces 11 are located at the same height position, a connecting piece connecting the two fixed plates 21 is arranged between the two fixed plates 21, the connecting piece comprises a pair of connecting rods 22, the two connecting rods 22 are connected to the corresponding fixed plates 21, the connecting rod 22 is L-shaped, a connecting hole is formed in the fixed plate 21, the vertical rod on the connecting rod 22 can be inserted into the connecting hole, the horizontal rods on the two connecting rods 22 extend in opposite directions, the connecting piece further comprises a connecting sleeve 23 arranged between the two fixed plates 21, the inner wall of the connecting sleeve 23 is provided with an internal thread, the horizontal rods on the two connecting rods 22 are provided with external threads, the ends of the two connecting rods 22 close to each other are threadedly connected to the inside of the connecting sleeve 23, and the external threads on the two connecting rods 22 are opposite in rotation direction, when the two adjacent concrete tower pieces 11 are spliced, the workers insert the two connecting rods 22 into the corresponding fixed plates 21, and connect and fix the two adjacent concrete tower pieces 11 by rotating the connecting sleeve 23, so that the spliced concrete tower pieces 11 are prevented from falling.

[0058] With reference to Figure 5, the concrete tower piece 11 is measured and controlled by the eight-point positioning balance detection mode of the laser radar carried by the unmanned aerial vehicle during assembly. The unmanned aerial vehicle flies around the spliced concrete tower piece 11 and hovers at the monitoring points near the upper and lower end positions of the spliced position of the adjacent two concrete tower pieces 11. Then, horizontal and vertical light beams are emitted by the laser radar, so as to determine whether the perpendicularity of the two assembled concrete tower pieces 11 meets the installation standard. If the assembled concrete tower pieces 11 do not meet the assembly requirements, the position of the concrete tower piece 11 is adjusted at any time during assembly until the data at the laser radar measurement and control position meets the requirements. When the adjacent two concrete tower pieces 11 are assembled according to the requirements, the two concrete tower pieces 11 are connected and fixed by the connecting assembly 2. According to the above measurement and control mode, the laser radar measures and controls the upper and lower end positions of the spliced position during the assembly of the remaining concrete tower pieces 11. According to the eight-point positioning balance detection mode, the concrete tower piece 11 can be quickly assembled, and the assembly efficiency is improved.

[0059] Further, a plurality of connecting assemblies 2 are arranged at the spliced position of the adjacent two concrete tower pieces 11. The plurality of connecting assemblies 2 are evenly arranged along the joint of the two concrete tower pieces 11. When the adjacent two concrete tower pieces 11 are assembled in place, the plurality of connecting assemblies 2 can make the connection of the adjacent two concrete tower pieces 11 more firm, so as to avoid the problem that the assembled concrete tower piece 11 is not installed in place due to external factors.

[0060] S3: Assemble the concrete tower 1

[0061] Referring to Figure 2 and Figure 6 After the 27 concrete tower pieces 1 in step S2 are spliced and assembled, the 27 concrete tower pieces 1 are hoisted on the base of the wind turbine generator. First, the first concrete tower piece 1 is hoisted on the base and the position is determined. When the first concrete tower piece 1 is installed, an installation groove is formed on the base, and the first concrete tower piece 1 is installed by pouring concrete mortar in the installation groove.

[0062] Then, the remaining concrete tower pieces 1 are hoisted in sequence and installed from bottom to top. When the second concrete tower piece 1 is hoisted, the second concrete tower piece 1 is installed on the upper end of the first concrete tower piece 1, and the concrete tower pieces 11 between the upper and lower adjacent concrete tower pieces 1 are arranged in a staggered manner, so that the upper concrete tower piece 1 can be pressed on the lower concrete tower piece 1, thereby improving the stability of the concrete tower piece 1. The connecting position of the upper and lower concrete tower pieces 1 is preliminarily connected and fixed by applying epoxy structural adhesive.

[0063] Referring to Figure 2 and Figure 4The horizontal adjusting assembly 3 is arranged between the two adjacent concrete tower sections 1, and can enable the two adjacent horizontal adjusting assemblies 3 to be installed in place, thereby avoiding installation errors. The horizontal adjusting assembly 3 comprises a positioning assembly 31 detachably arranged inside the lower concrete tower section 1 and close to the upper end opening, and an installation adjusting assembly 32 detachably arranged inside the upper concrete tower section 1 and close to the lower end opening. The positioning assembly 31 comprises a positioning column 311 arranged inside the concrete tower section 1, and a plurality of positioning rods 312 fixed to the positioning column 311. The plurality of positioning rods 312 are uniformly distributed in the circumferential direction of the axis of the positioning column 311. The plurality of positioning rods 312 are horizontally arranged, and one end of each of the plurality of positioning rods 312 is arranged towards the positioning column 311 and fixedly connected to the positioning column 311. The positioning column 311 is vertically arranged, and the positioning column 311 is located on the axis of the center of the concrete tower section 1. A positioning seat 313 in the shape of a U is fixed to each concrete tower piece 11 of the concrete tower section 1, and the end of the positioning rod 312 away from the positioning column 311 can be installed and fitted into the positioning seat 313. The installation adjusting assembly 32 comprises a positioning ring 321 arranged in the concrete tower section 1, and a plurality of installation rods 322 fixed to the positioning ring 321. The plurality of installation rods 322 are uniformly distributed in the circumferential direction of the axis of the positioning ring 321. The plurality of installation rods 322 are horizontally arranged, and one end of each of the plurality of installation rods 322 is arranged towards the positioning ring 321 and fixedly connected to the positioning ring 321. The positioning ring 321 is vertically arranged, and the positioning ring 321 is located on the axis of the center of the concrete tower section 1. An installation seat 323 in the shape of a U is fixed to each concrete tower piece 11 of the concrete tower section 1, and the end of the installation rod 322 away from the positioning ring 321 can be installed and fitted into the corresponding installation seat 323. When the two adjacent concrete tower sections 1 are installed, the positioning assembly 31 is installed inside the lower concrete tower section 1 in advance, and the installation adjusting assembly 32 is installed in the upper concrete tower section 1. During hoisting, the positioning column 311 can be inserted into the positioning ring 321, so that the centers of the two concrete tower sections 1 remain coincident. Further, a plurality of positioning bolts 324 are threadedly connected to the positioning ring 321. One end of the positioning bolt 324 extends into the positioning ring 321. After the positioning column 311 is inserted into the positioning ring 321, the end of the positioning bolt 324 is abutted against the positioning column 311 by rotating the positioning bolt 324, so as to slightly adjust the position, and enable the two concrete tower sections 1 to be in the state of center overlap.

[0064] Referring to Figure 2 , Figure 6 and Figure 7When the multi-section concrete tower drum 1 is assembled, the unmanned aerial vehicle flies around the outside of the assembled concrete tower drum 1, flies at a certain height outside the hoisted concrete tower drum 1, and flies at the height position and selects a plurality of monitoring points outside the concrete tower drum 1. In the embodiment of the application, the number of monitoring points is greater than or equal to eight. The plurality of monitoring points are arranged on the concrete tower drum 1. When the concrete tower drum 1 to be installed is hoisted to the lower concrete tower drum 1, the unmanned aerial vehicle starts to fly around. Whenever it flies to one of the monitoring points, the unmanned aerial vehicle enters the state of fixed-point hovering, and then emits horizontal and vertical light beams to the concrete tower drum 1 through the laser radar. The verticality of the concrete tower drum 1 is judged through the monitored data, and the center coordinates of the section of the concrete tower drum 1 are calculated through the monitored data. If there is an error between the center coordinates of the section of the concrete tower drum 1 and the center coordinates of the lower concrete tower drum 1, the error is adjusted by rotating the positioning bolt 324 until the center coordinates of the section of the concrete tower drum 1 overlap the center coordinates of the lower concrete tower drum 1. The monitoring is realized by the flying mode of the unmanned aerial vehicle, the absolute accuracy control is realized, the cumulative error of part of the tower drum is offset, and the installation efficiency is improved.

[0065] S4: installing the steel strand 4 on the assembled multi-section concrete tower drum 1

[0066] Referring to Figure 4 The tension plate 5 is fixed on each concrete tower piece 11 of each section of the concrete tower drum 1. When the multi-section concrete tower drum 1 is assembled, the steel strand 4 is arranged in the concrete tower drum 1. In the embodiment of the application, 16 steel strands 4 are arranged in the concrete tower drum 1. The 16 steel strands 4 are uniformly arranged in the concrete tower drum 1. Each steel strand 4 can pass through the corresponding tension plate 5 upwards. The steel strand 4 and the tension plate 5 can connect and fix the multi-section concrete tower drum 1 into one body, thereby improving the strength of the wind turbine tower drum. The upper end of each steel strand 4 is fixedly connected to the concrete tower piece 11 of the concrete tower drum 1. The tension device is arranged on the base of the wind turbine generator. Each steel strand 4 is connected to the tension device after passing through the tension plate 5 downwards. The tension device is used to tension the steel strand 4, so that the steel strand 4 can press and fix the multi-section concrete tower drum 1. The tension clamp 41 is arranged on each steel strand 4 and located on each tension plate 5. The tension clamp 41 can be fixed on the steel strand 4. When the steel strand 4 is tensioned, the tension clamp 41 can be pressed on the tension plate 5, so that the concrete tower drums 1 can be pressed tightly.

[0067] S5: tensioning the steel strand 4

[0068] Referring to Figure 4 , Figure 8 and Figure 9When the steel strand 4 is threaded and each steel strand 4 is tensioned, the unmanned aerial vehicle can fly around the concrete tower drum 1. The unmanned aerial vehicle flies from top to bottom and layer by layer. When the unmanned aerial vehicle flies at a certain height, it lands from the starting point of the flight and reaches the next monitoring height position. After the flight is completed, it returns to the flight starting point of the layer and reaches the next monitoring height position and continues to fly. The directions of the unmanned aerial vehicle flying on the two adjacent upper and lower different horizontal heights are opposite. According to the above method, the flight monitoring is carried out layer by layer along the height of the concrete tower drum 1. During the flight monitoring, the laser radar selects monitoring points at different positions at the monitoring height of the layer and emits laser beams towards the concrete tower drum 1 for measurement and control. The stability angle of the concrete tower drum 1 is judged by the data of the measurement and control. During the monitoring, the camera of the unmanned aerial vehicle can generate dense point clouds through close-range photography. Through the data monitored by the two, a fine three-dimensional model data is generated, so that the state of the concrete tower drum 1 during tensioning of the steel strand 4 is judged, and the problem of damage to the concrete tower drum 1 during tensioning is prevented.

[0069] S6: Install steel tower drum

[0070] When the multi-section concrete tower drum 1 is completely installed and fixed to the correct position, the steel tower drum is finally hoisted to the upper end position of the concrete tower drum 1, and the steel tower drum is fixed to the upper end of the concrete tower drum 1.

[0071] The working process of the fusion laser radar and unmanned aerial vehicle of the super-high wind power tower drum construction method is as follows: assemble each concrete tower piece 11 on each section of the concrete tower drum 1 at the construction site first, so that the concrete tower pieces 11 are assembled into a single concrete tower drum 1. During the assembly process, the unmanned aerial vehicle can fly to the specified monitoring point and control through the laser radar, so that the concrete tower piece 11 can be assembled in place. When hoisting the concrete tower drum 1, each section of the concrete tower drum 1 is hoisted from bottom to top. During hoisting, the concrete tower drum 1 of the upper layer is misaligned and pressed onto the concrete tower drum 1 of the lower layer. The unmanned aerial vehicle carrying the laser radar flies around to monitor the horizontal and vertical degrees of the concrete tower drum 1 during installation, so that the concrete tower drum 1 remains in a vertical state and the centers of each layer of the concrete tower drum 1 always overlap. When tensioning the multi-section concrete tower drum 1, the unmanned aerial vehicle carrying the laser radar and the camera monitors the outside of the concrete tower drum 1. The monitoring range is along the height direction of the concrete tower drum 1 to avoid the instability of the concrete tower drum 1.

[0072] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application. Therefore, any equivalent changes made according to the structure, shape and principle of the present application should be covered by the protection scope of the present application.

Claims

1. A construction method for ultra-high wind turbine towers integrating lidar and UAVs, characterized in that: Includes the following steps: Equipment debugging: Adjust all parameters of the drone and lidar equipment; Assemble each section of concrete tower (1): Assemble the concrete tower pieces (11) on each layer separately. During the assembly process, the UAV carrying the laser radar flies to the location where measurement and control are required to measure and ensure that the roundness of each section of concrete tower (1) meets the design requirements after the concrete tower pieces (11) are assembled. Assemble multi-layer concrete tower (1): Assemble each layer of concrete tower (1) on the base of the wind turbine. During the assembly process, the UAV carrying the laser radar flies around the concrete tower (1) and emits laser beams toward the concrete tower (1) to monitor the verticality of each layer of concrete tower (1) in real time. Threading steel strands (4): After the multi-layer concrete tower (1) is assembled, thread steel strands (4) onto the multi-layer concrete tower (1) to connect the multi-layer concrete tower (1) into a whole. Tensioning steel strands (4): During the prestressing tensioning of the steel strands (4), the UAV carrying the laser radar flies around the concrete tower (1) and along the height direction of the concrete tower (1). During the flight, the laser radar emits laser beams toward the concrete tower (1) to monitor the stability angle of the concrete tower (1) in real time until the tensioning construction of the multi-layer concrete tower (1) is completed. Install the steel tower: hoist and fix the steel tower on top of the assembled concrete tower (1).

2. The construction method for ultra-high wind turbine towers integrating lidar and UAVs according to claim 1, characterized in that: The concrete tower plate (11) has a protrusion (12) and a groove (13) at both ends. The end faces of two adjacent concrete tower plates (11) are joined together by the protrusion (12) and the groove (13).

3. The construction method for ultra-high wind turbine towers integrating lidar and UAVs according to claim 2, characterized in that: A connecting assembly (2) is provided between two adjacent concrete tower sections (11). The connecting assembly (2) includes a fixing plate (21) fixed on the inner wall of the concrete tower section (11) and near one edge. The fixing plate (21) has a connecting hole. A connector is provided between the two fixing plates (21) on the two adjacent concrete tower sections (11). The connector includes a pair of connecting rods (22). One end of the connecting rod (22) is inserted into the connecting hole on the corresponding fixing plate (21). The ends of the two connecting rods (22) away from the fixing plate (21) are arranged facing each other. A connecting sleeve (23) is provided between them. The ends of the two connecting rods (22) are threadedly connected to the connecting sleeve (23).

4. The construction method for ultra-high wind turbine towers integrating lidar and UAVs according to claim 1, characterized in that: During the assembly process of multiple concrete tower sections (11) on each concrete tower section (1), the drone hovers at the monitoring point of the splicing outside the concrete tower section (1) to measure the verticality of the concrete tower section (1). The lidar emits horizontal and vertical beams towards the outer wall of the concrete tower section (1) to measure the verticality of the concrete tower section (1).

5. The construction method for ultra-high wind turbine towers integrating lidar and UAVs according to claim 2, characterized in that: During the splicing process of adjacent concrete tower sections (11), lidar is used to measure and control the position of the upper and lower ends of the connection between the two adjacent concrete tower sections (11).

6. The construction method for ultra-high wind turbine towers integrating lidar and UAVs according to claim 3, characterized in that: The connecting components (2) are arranged in multiple sets between two adjacent concrete tower sections (11) and are evenly arranged along the height direction of the concrete tower sections (11).

7. The construction method for ultra-high wind turbine towers integrating lidar and UAVs according to claim 1, characterized in that: During the hoisting process of each concrete tower section (1), the UAV flies around the outside of the concrete tower section (1) and hovers at fixed points at certain angles. The lidar emits horizontal and vertical beams towards the outside of the concrete tower section (1) to monitor the center coordinates of the concrete tower section (1) and compares them with the initial center coordinates. It also monitors whether the verticality of the concrete tower section (1) meets the requirements during the stacking process.

8. The construction method for ultra-high wind turbine towers integrating lidar and UAVs according to claim 1, characterized in that: Multiple sets of horizontal adjustment components (3) are installed on the inner wall between two adjacent concrete tower cylinders (1). The multiple sets of horizontal adjustment components (3) are evenly distributed along the annular concrete tower cylinder (1). The horizontal adjustment components (3) are used to control the center of the circle between two adjacent concrete tower cylinders (1) to be within the range required by the design.

9. The construction method for ultra-high wind turbine towers integrating lidar and UAVs according to claim 1, characterized in that: When tensioning the steel strand (4), the UAV flies around the height direction of the wind turbine tower in a loop. During the flight, the UAV takes pictures of the concrete tower (1) with its own camera, generates a dense point cloud on the background equipment, and generates a three-dimensional model of the concrete tower (1).

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