CN113252294A - Cross-sea bridge space wind speed and direction testing system and monitoring method - Google Patents
Cross-sea bridge space wind speed and direction testing system and monitoring method Download PDFInfo
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- CN113252294A CN113252294A CN202110663946.6A CN202110663946A CN113252294A CN 113252294 A CN113252294 A CN 113252294A CN 202110663946 A CN202110663946 A CN 202110663946A CN 113252294 A CN113252294 A CN 113252294A
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/06—Measuring arrangements specially adapted for aerodynamic testing
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P1/00—Details of instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
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- G—PHYSICS
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/24—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses a cross-sea bridge space wind speed and direction testing system which comprises a console, an unmanned aerial vehicle and ultrasonic anemorumbometers, wherein the ratio of the diameter of a rotor wing of the unmanned aerial vehicle to the center distance of the rotor wing is not less than 1.2, the unmanned aerial vehicle is connected with a telescopic connecting rod through a shock absorber, and the telescopic connecting rod is provided with a plurality of ultrasonic anemorumbometers, so that each ultrasonic anemorumbometer is released to each measuring point position in a measuring area; the unmanned aerial vehicle is also provided with a data transmission device, the data transmission device transmits the position parameters and the wind speed and direction parameters of the unmanned aerial vehicle to the console, and the console controls the unmanned aerial vehicle to complete data acquisition at different point positions and receive and process related parameters; according to the invention, the plurality of detection devices are released to each detection point position through the telescopic rod, so that the simultaneous sampling of a plurality of sampling points is realized, and the detection efficiency is improved; because the telescopic connecting rod structure is fixed, the accurate positioning of the sampling point is ensured, and the telescopic connecting rod structure has the advantages of simple structure, high sampling efficiency and high data accuracy.
Description
Technical Field
The invention belongs to the technical field of bridge construction, and particularly relates to a system and a method for testing wind speed and wind direction in a cross-sea bridge space.
Background
Currently, the application of unmanned aerial vehicles in the field of meteorological monitoring is greatly developed, such as a method for directly monitoring wind speed and direction by installing a wind speed and direction instrument on the unmanned aerial vehicle or a method for indirectly calculating wind speed and direction according to the flight state of the unmanned aerial vehicle, the wind resistance performance of a structure is calculated by collecting the gradient wind load of the position of a bridge in the wind resistance design of a bridge structure, the gradient wind load is calculated according to the gradient wind speed information, so if an anemoclinograph is installed on the unmanned aerial vehicle for direct measurement, the unmanned aerial vehicle needs to be frequently switched among all detection points, meanwhile, as the collection point positions are distributed in the whole space range of the sea-crossing bridge, the number of the point positions is large, the distribution directions are wide, so that the method for acquiring data has high operation difficulty and large acquired data quantity, and results have larger errors due to errors of positioning accuracy;
for the indirect deduction algorithm of the flight state of the unmanned aerial vehicle, the specific operation mode is that the unmanned aerial vehicle flies to an appointed space point, and then meteorological data such as wind speed and direction, air humidity, temperature and the like are monitored through a monitoring device of a meteorological monitoring station; however, as the bridge site of the sea-crossing bridge is generally far away from the meteorological monitoring station, the accuracy of the wind speed and direction data at the bridge site calculated by meteorological data is poor; simultaneously because unmanned aerial vehicle's vibrations and unmanned aerial vehicle downwash the influence of air current, meteorological detection device's detection precision also can receive great influence, consequently the data error that adopts this method to gather is great, and the reliability is lower, can not satisfy bridge anti-wind design requirement.
Disclosure of Invention
The invention discloses a cross-sea bridge space wind speed and direction testing system and a monitoring method aiming at the defects of low monitoring precision and large data acquisition workload in the prior art.
The invention realizes the aim through the following technical scheme:
a cross-sea bridge space wind speed and direction testing system comprises a control console, an unmanned aerial vehicle and ultrasonic anemorumbometers, wherein the ratio of the diameter of a rotor wing of the unmanned aerial vehicle to the center distance of the rotor wing is not less than 1.2, the unmanned aerial vehicle is connected with a telescopic connecting rod through a shock absorber, the telescopic connecting rod is connected with a plurality of ultrasonic anemorumbometers, and the ultrasonic anemorumbometers are stably released to measuring points located at different heights in a measuring area through the extension of the telescopic connecting rod;
the unmanned aerial vehicle is also fixedly provided with a data transmission device, and the detected wind speed and direction parameters and the real-time position parameters of the unmanned aerial vehicle are integrated by the data transmission device and then sent to the console;
the control console is used for receiving the position parameters and the wind speed and direction parameters fed back by the data transmission device and adjusting the array arrangement of the unmanned aerial vehicle according to requirements to obtain the wind speed and direction parameters of a plurality of different point positions.
Preferably, the telescopic connecting rod comprises a plurality of telescopic rods which are sequentially sleeved in a sliding manner; every level of telescopic link all is provided with both ends open-ended flexible chamber on, and the both sides of telescopic link are provided with interior spacing ring and outer spacing ring respectively, and adjacent two-stage telescopic link realizes the stable connection through the cooperation of the outer spacing ring of subordinate's telescopic link and the interior spacing ring of higher level's telescopic link.
Preferably, a rotary limiting groove and a rotary limiting block which are matched with each other are further arranged between the telescopic cavity of the upper-level telescopic rod and the outer limiting ring of the lower-level telescopic rod.
Preferably, the telescopic link is further sleeved with a connecting buckle, the connecting buckle is connected with a fixing rod through a connecting sleeve, the ultrasonic anemorumbometer is connected with the fixing rod, and the telescopic link is further provided with a support ring for supporting the connecting buckle.
Preferably, the fixed rod is of an L-shaped structure, and two ends of the fixed rod are respectively connected with the connecting sleeve and the ultrasonic wind speed and direction through screw threads; the fixed rod is of a hollow structure, and threading holes are correspondingly formed in the telescopic rod and the fixed rod.
Preferably, the shock absorber comprises a shell, a buffer cavity is arranged on the shell, a connecting screw rod is arranged at one end of the buffer cavity, and a buffer spring is arranged in the buffer cavity; a T-shaped compression rod is further arranged in the buffer cavity in a sliding mode, and one end of the compression rod extends out of the shell through a telescopic hole in the bottom of the shell.
Preferably, the data transmission device comprises a PCB control panel, one end of the PCB control panel is provided with a plurality of data interfaces, and the data interfaces are respectively connected with the ultrasonic anemoscope and the ultrasonic anemoscope through connecting wires; and a GPS positioning module and a wireless communication module which are respectively connected with the PCB control panel are also arranged in the data transmission device.
Preferably, the control console comprises a main control computer, an unmanned aerial vehicle operating device and a wireless communication module, and the wireless communication module is connected with the main control computer through a modem; the main control calculates to embed and is used for analyzing unmanned aerial vehicle positioning error and carries out the data analysis module of post processing to wind speed wind direction parameter.
Correspondingly, the invention also discloses a cross-sea bridge space wind speed and direction monitoring method, which comprises the following steps:
s1, controlling the unmanned aerial vehicle to hover at the top of the head of a worker through an unmanned aerial vehicle operating device, then connecting the assembly of the telescopic connecting rod and the ultrasonic anemorumbometer with the unmanned aerial vehicle, and simultaneously setting a unique number for each ultrasonic anemorumbometer;
s2, after the equipment is assembled, controlling the unmanned aerial vehicle to move to a designated detection point through the unmanned aerial vehicle operating device;
s3, after the unmanned aerial vehicle moves to the designated detection point in the step S2, the data transmission device correspondingly integrates the actual position parameters determined by the GPS positioning module, the parameters collected by each ultrasonic anemoscope and the serial numbers of each ultrasonic anemoscope and then transmits the integrated parameters to the console through the wireless communication module;
s4, after sampling of one sampling point is completed, the staff repeats the step S3 to complete the sampling work of other sampling points and collect related data;
s5, generating a wind speed time course curve and a wind direction rose diagram in the area of the sea-crossing bridge by the console according to the actual position parameters and the corresponding wind speed and direction parameters;
preferably, the step S3 further includes a positioning correction, including the following steps:
a1, extracting the actual position parameter in the received parameters by the data analysis module
And extracting the design position parameter corresponding to the position parameter
；
A2, calculating the error rate between the actual position parameter and the design position parameter according to the formula
Wherein the maximum error rate allowed is 5%;
a3, the data analysis module automatically judges whether the error rate exceeds the maximum allowable value, if so, the data analysis module outputs the corresponding coordinate correction value, wherein the correction parameter of the position coordinate is calculated according to the following formula
The working personnel controls the unmanned aerial vehicle to correct the coordinates through the unmanned aerial vehicle operating device;
and if the coordinates are judged to be correct, outputting a corresponding result, and collecting the wind speed and direction parameters by workers.
Compared with the prior art, the invention has the following beneficial effects:
1. the device comprises a control console, an unmanned aerial vehicle and ultrasonic anemorumbometers, wherein the ratio of the diameter of a rotor wing of the unmanned aerial vehicle to the center distance of the rotor wing is not less than 1.2, the unmanned aerial vehicle is connected with a telescopic connecting rod through a shock absorber, a plurality of ultrasonic anemorumbometers are arranged on the telescopic connecting rod, and each ultrasonic anemorumbometer is released to each measuring point position in a measuring area through the telescopic connecting rod; meanwhile, the unmanned aerial vehicle is also provided with a data transmission device, the position parameters and the wind speed and direction parameters of the unmanned aerial vehicle are transmitted to the console through the data transmission device, and the console controls the unmanned aerial vehicle to complete data acquisition between different point positions and receive and process related parameters;
the unmanned aerial vehicle with the ratio of the rotor diameter to the rotor center distance not less than 1.2 is selected as the unmanned aerial vehicle for detection, and the principle is that as the number of the rotors of the rotor unmanned aerial vehicle increases, when the unmanned aerial vehicle rises to the same height, the rotating speed and smile of each rotor are increased, the larger the center distance of the rotors is, the larger the calm wind area below the center of the unmanned aerial vehicle is, the smaller the influence of downwash airflow generated by the rotors of the unmanned aerial vehicle on the central area of the unmanned aerial vehicle is, the parameters can effectively avoid the influence of the downwash airflow generated by the rotors on an ultrasonic anemorumbometer installed below the center of the unmanned aerial vehicle, and the detection precision of the ultrasonic anemorumbometer is improved;
meanwhile, the invention also connects the telescopic rods through the shock absorbers, each ultrasonic anemoscope is respectively arranged on each level of telescopic rods, the unmanned aerial vehicle is isolated from the connecting telescopic rods through the shock absorbers, and the shock of the unmanned aerial vehicle is buffered, so that the influence of the shock on the ultrasonic anemoscopes is avoided, and the measurement precision is improved; meanwhile, the shock absorber and the telescopic connecting rod are both hard structures, compared with flexible connecting pieces such as ropes and the like, in the actual flight process, the telescopic connecting rod cannot deflect due to the action of wind power, so that the position relation between each ultrasonic anemoscope and the unmanned aerial vehicle and the position relation between the ultrasonic anemoscopes are relatively fixed, the ultrasonic anemoscopes can be accurately positioned by the unmanned aerial vehicle, the wind speed and wind direction parameters are corresponding to the coordinate position of the space where the bridge is located, the accuracy of gradient wind load is improved, and the accuracy of wind resistance calculation of the bridge is improved;
meanwhile, the telescopic connecting rods are naturally stretched to release the ultrasonic anemorumbometers to different heights, and the telescopic connecting rods have a multi-stage release structure and are relatively fixed in specification and size, so that an unmanned aerial vehicle can simultaneously carry a plurality of sets of ultrasonic anemorumbometers and accurately deliver the ultrasonic anemorumbometers to detection points, and finally coordinate parameters of all the ultrasonic anemorumbometers can be determined only by monitoring position coordinates of the unmanned aerial vehicle and size parameters of the telescopic connecting rods, so that the positioning precision is high, the positioning mode is simple and reliable, equipment is simplified to the maximum extent, the working load of the unmanned aerial vehicle is reduced, and the reliability and stability of the whole system are improved;
and because a large amount of data can once be collected, unmanned aerial vehicle need not switch between every sampling point, consequently not only improved data acquisition's efficiency, the interval time between each data is shorter simultaneously, can effectively avoid the short time in the data error that the change brought is gathered to the wind speed, improves the accuracy of parameter.
Compared with direct unmanned aerial vehicle sampling in the prior art, the method can effectively improve the data collection efficiency and ensure the parameter precision, and compared with an indirect calculation method, the method can effectively improve the data accuracy by a field collection mode, has the advantages of direct unmanned aerial vehicle sampling and indirect calculation, overcomes the respective defects, and can meet the requirements of bridge design.
2. The telescopic rod comprises a plurality of stages of telescopic rods, wherein telescopic cavities are formed in the telescopic rods, and an inner limiting ring and an outer limiting ring are respectively arranged on the upper side and the lower side of each telescopic rod;
the expansion of the telescopic rod is realized through the gravity of the telescopic rod, a hydraulic device or an electric telescopic device is not needed, the structure of the telescopic rod is simplified to the maximum extent, the weight reduction of the unmanned aerial vehicle is realized, the endurance time of the unmanned aerial vehicle is prolonged, the appearance of the whole set of device is simplified, the influence of the unmanned aerial vehicle on the airflow of a detection area is avoided, and the accuracy of detection data is improved;
meanwhile, the telescopic rod is simple in structure, and the stability and the reliability of the telescopic connecting rod are effectively guaranteed.
3. According to the invention, a rotation limiting groove and a rotation limiting block which are mutually matched are also arranged between the telescopic cavity of the upper-level telescopic rod and the limiting ring of the lower-level telescopic rod, so that the rotation limiting of each-level telescopic rod is realized through the matching of the limiting groove and the limiting block, the telescopic rod is prevented from rotating under the action of wind power, and further the ultrasonic anemorumbometer is driven to rotate, so that the detection precision is influenced.
4. The connecting buckle is also arranged on the telescopic rod and is connected with the fixed rod through the connecting sleeve and the ultrasonic anemorumbometer through the fixed rod; meanwhile, the telescopic rod is also provided with the support ring, the structure is designed to simplify the connection relation among all the parts to the maximum extent, and meanwhile, the equipment is convenient to assemble and maintain; the dead lever is hollow structure simultaneously, it is provided with the through wires hole to correspond on telescopic link and the dead lever, lead in the connecting rod of ultrasonic wave anemoscope through wires hole and cavity, and finally link to each other with the data transfer device who is located on unmanned aerial vehicle, the disguised wiring of connecting wire has been realized, avoid scattered connecting wire to lead to the fact the interference to unmanned aerial vehicle, can not cause big destruction or increase extra equipment to the start-up appearance of whole set of device again simultaneously, and the cavity structure still does benefit to whole equipment and subtracts weight.
5. The shock absorber comprises a shell, wherein a buffer cavity is arranged on the shell, one end of the buffer cavity is provided with a connecting screw rod, and a buffer spring is arranged in the buffer cavity; a T-shaped compression rod is further arranged in the buffer cavity in a sliding manner, and one end of the compression rod extends out of the shell through a telescopic hole in the bottom of the shell; when the unmanned aerial vehicle vibration damping device is used, the vibration of the unmanned aerial vehicle directly acts on the shell, the compression rod is separated from the shell, so that the telescopic connecting rod is separated from the unmanned aerial vehicle, the shell compresses the buffer spring while vibrating up and down, and the vibration of the unmanned aerial vehicle is resisted through the buffer spring; compared with the prior art, the design has the advantages that the internal structure of the shock absorber is simplified to the greatest extent while the basic shock absorption requirements are met, the reliability and the stability of equipment are improved, meanwhile, the unmanned aerial vehicle weight reduction is facilitated, and the cruising ability is improved.
6. The data transmission device comprises a PCB control panel, wherein one end of the PCB control panel is provided with a plurality of data interfaces, and the data interfaces are respectively connected with each ultrasonic anemoscope through connecting wires; the data transmission device is also internally provided with a GPS positioning module and a wireless communication module which are respectively connected with the PCB control panel, the GPS positioning module is used for positioning the position parameters of the unmanned aerial vehicle in real time, meanwhile, the ultrasonic anemoscope is used for acquiring the wind speed and wind direction parameters, the PCB combines the wind speed and wind direction parameters with each other according to time and then transmits the parameters to the console through the wireless communication module, the internal structure of the data transmission device is simplified to the maximum extent when the requirements of basic data collection and processing are met, and the stability and the reliability of the data transmission device are improved;
simultaneously less volume not only is favorable to alleviateing unmanned aerial vehicle's load, still is favorable to reducing data transfer device's energy consumption, and data transfer device can design more small and exquisite to avoid it to cause the influence to unmanned aerial vehicle's pneumatic overall arrangement, guarantee unmanned aerial vehicle's navigability, improve its duration.
7. The control console comprises a main control computer and a wireless communication module, wherein the wireless communication module is connected with the main control computer through a modem; a data analysis module is arranged in the master control computer;
the wireless communication module adopts radio waves as carriers for information transmission, and compared with the traditional Bluetooth wireless connection mode, the wireless communication module has the advantages that the control range of the radio waves is wider, the requirement of large-scale sampling control can be effectively met, the technology is more mature, and the cost is lower; and radio waves can realize stable transmission of data without passing through a relay station, so that the intermediate links of data transmission are few, and data distortion can be effectively avoided.
Meanwhile, the control console also comprises an unmanned aerial vehicle operating device which is an original device control device and controls the unmanned aerial vehicle through an original device control procedure of a manufacturer, a communication channel of the unmanned aerial vehicle is completely separated from a wireless communication module, and the control method has the advantages that the structure of the data transmission device can be simplified to the greatest extent by adopting a completely independent control method, relevant problems caused by compatibility of external equipment and an unmanned aerial vehicle control procedure are avoided, and the control difficulty of the equipment is reduced; meanwhile, the dual-channel communication can also ensure the safety of communication.
8. The method also comprises coordinate correction operation in the actual operation process, and the precision of data acquisition can be improved by correcting the coordinate parameters, so that reliable data can be improved for subsequent gradient wind load calculation, and the precision of data calculation is improved;
the specific operation steps mainly comprise data comparison, error rate calculation and judgment correction, and the steps of a correction program are simplified to the maximum extent while the coordinate precision is ensured, so that the operation of a computer is reduced, and the control efficiency is improved; while also compressing the amount of data that needs to be transferred.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the telescopic rod of the present invention;
FIG. 3 is a cross-sectional view of the telescoping pole of the present invention;
FIG. 4 is a cross-sectional view of the shock absorber of the present invention;
FIG. 5 is a cross-sectional view of a fixation rod of the present invention;
FIG. 6 is a schematic diagram of a data transmission apparatus according to the present invention.
Reference numerals: 1. a control cabinet, 2, unmanned aerial vehicle, 3, ultrasonic wave anemorumbometer, 4, the bumper shock absorber, 5, flexible connecting rod, 6, data transfer device, 7, connect the buckle, 8, the connecting sleeve, 9, the dead lever, 10, the through wires hole, 11, the main control computer, 12, unmanned aerial vehicle operating means, 13, modem, 41, the casing, 42, the cushion chamber, 43, connecting screw, 44, buffer spring, 45, the compression bar, 46, the flexible hole, 51, the telescopic link, 52, flexible chamber, 53, interior spacing ring, 54, outer spacing ring, 55, rotatory spacing groove, 56, rotatory stopper, 57, the support ring, 61, the PCB control panel, 62, data interface, 63, GPS orientation module, 64, wireless communication module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
Embodiment mode 1
As shown in fig. 1 to 5, the present embodiment provides a cross-sea bridge space wind speed and direction testing system, including a console 1, an unmanned aerial vehicle 2, and an ultrasonic anemoscope 3, where the console 1 includes a main control computer 11 and a wireless communication module 64, and the wireless communication module 64 is connected to the main control computer 11 through a modem 13; a data analysis module is arranged in the main control computer 11 and used for analyzing the positioning error of the unmanned aerial vehicle 2, judging whether correction is needed or not, and performing post-processing on the wind speed and wind direction parameters to output a wind speed time course curve and a wind direction rose diagram; meanwhile, the control console 1 also comprises an unmanned aerial vehicle operating device 12, the unmanned aerial vehicle operating device 12 adopts an unmanned aerial vehicle original control device, and the unmanned aerial vehicle operating device 12, the data transmission device 6 and the main control computer 11 are mutually independent control devices;
the top of the unmanned aerial vehicle 2 is fixedly provided with a data transmission device 6, a PCB control panel 61 is arranged in the data transmission device 6, the input end of the PCB control panel 61 is connected with a plurality of data interfaces 62 in parallel, and each data interface 62 is respectively connected with each ultrasonic anemoscope through a connecting wire and an aviation connector; meanwhile, a GPS positioning module 63 and a wireless communication module 64 are integrated in the data transmission device 6, the GPS positioning module 63 generates position coordinate information of the unmanned aerial vehicle 2 in real time, the PCB control board 61 combines the position coordinate information with wind speed and wind direction information collected by the ultrasonic anemorumbometer 3, the position information is distinguished through position numbers of the ultrasonic anemorumbometer 3, data are integrally packaged, and the two wireless communication modules 64 between the data transmission device 6 and the console 1 are matched with each other and realize data transmission through radio waves;
the bottom of the unmanned aerial vehicle 2 is connected with a telescopic connecting rod 5 through a shock absorber 4, the shock absorber 4 comprises a shell 41, a buffer cavity 42 is arranged on the shell 41, two ends of the buffer cavity 42 are both of an open structure, and the top of the buffer cavity is in threaded connection with a connecting screw rod 43 and is fixedly connected with the unmanned aerial vehicle 2 through the connecting screw rod 43; the other end of the buffer cavity is communicated with the outside through a telescopic hole 46 with the inner diameter smaller than that of the buffer cavity 42, and a limit step is formed at the bottom of the buffer cavity 42; a buffer spring 44 and a T-shaped compression rod 45 are further arranged in the buffer cavity 42, the compression rod 45 is slidably arranged in the buffer cavity 42, the top of the compression rod is abutted against the bottom of the buffer spring 44, the bottom of the compression rod extends out of the shell 41 through a telescopic hole 46, and the compression rod is connected with a telescopic connecting rod 5 through a connecting thread;
the telescopic connecting rod 5 comprises a plurality of stages of telescopic rods 51, each stage of telescopic rod 51 is provided with a telescopic cavity 52 with two open ends, the upper end and the lower end of each telescopic rod 51 are respectively provided with an outer limiting ring 54 and an inner limiting ring 53, wherein the outer limiting ring 54 is integrally connected with the outer surface of the telescopic rod 51, and the inner limiting ring 53 is integrally connected with the inner wall of the telescopic cavity 52, so that a limiting step is formed at the bottom of the telescopic rod 51; when the telescopic rods 51 of each stage are assembled, the lower telescopic rod 51 is inserted into the telescopic cavity 52 of the upper telescopic rod 51, meanwhile, the bottom of the lower telescopic rod 51 passes through the inner limiting ring 53 of the upper telescopic rod 51 and extends out of the upper telescopic rod 51, and the outer limiting ring 54 at the top of the lower telescopic rod is overlapped and attached to the inner limiting ring 53 at the extended limit position, so that supporting force is provided in the axial direction, and stable connection of the telescopic rods 51 of each stage in the vertical direction is guaranteed; the top of the telescopic rod 51 positioned at the highest level is connected with a sealing cover through a screw thread, and the middle part of the sealing cover is provided with a threaded hole which is connected with a compression rod 45 in the shock absorber 4 through the screw thread;
further, in order to avoid axial rotation of the telescopic rods 51 at all levels under the action of wind power, a rotation limiting block 56 and a rotation limiting groove 55 which are matched with each other are arranged between the outer limiting ring 54 and the inner wall of the telescopic cavity 52, and during installation, the rotation limiting block 56 on the lower-level telescopic rod 51 is inserted into the rotation limiting groove 55 of the upper-level telescopic rod 51, so that rotation limiting of the telescopic rods at all levels is realized;
the bottom of each stage of telescopic rod 51 is also provided with a support ring 57, the support ring 57 is integrally connected with the outer wall of the telescopic rod 51, the bottom surface of the support ring 57 is flush with the bottom surface of the telescopic rod 51, the telescopic rod 51 is sleeved with a connecting buckle 7, the connecting buckle 7 comprises a first connecting ring and a second connecting ring which are separated from each other, the first connecting ring and the second connecting ring are fixedly connected through bolts, meanwhile, the side surface of the first connecting ring is welded with a connecting sleeve 8, the connecting sleeve 8 is connected with a fixing rod 9 through threads, the fixing rod 9 is of an L-shaped structure, and the fixing rod 9 is connected with the ultrasonic anemoscope 3 through threads; the connecting buckle 7 can be adapted to the telescopic rods 51 of all levels by changing the specification of the connecting buckle 7, and after the installation is finished, the connecting buckle 7 is placed on the support ring 57;
meanwhile, the side faces of the telescopic rods 51 at all levels are provided with threading holes 10, the fixing rod 9 is of a hollow structure, the connecting buckle 7 is also provided with the threading holes 10, one side of the fixing rod 9, which is connected with the ultrasonic anemorumbometer 3, is provided with the threading holes 10, a connecting wire of the ultrasonic anemorumbometer 3 is inserted into the telescopic cavities 52 of the telescopic rods 51 through the threading holes 10 and the cavities of the fixing rod 9 during installation, and the connecting wire extends out of the threading holes 10 at the tops of the telescopic rods 51 to be connected with the data interface 62 of the data transmission device 6.
Embodiment mode 2
The embodiment is taken as a basic embodiment of the invention, and discloses a cross-sea bridge space wind speed and direction detection method, which comprises the following steps:
s1, completing assembly of the telescopic connecting rod and the ultrasonic anemorumbometer, setting a unique number for each ultrasonic anemorumbometer, controlling the unmanned aerial vehicle to hover at the top of the head of a worker through an unmanned aerial vehicle operating device, and then connecting the combined body of the telescopic connecting rod and the ultrasonic anemorumbometer with the unmanned aerial vehicle;
s2, after the equipment is assembled, controlling the unmanned aerial vehicle to move to a designated detection point through the unmanned aerial vehicle operating device;
s3, after the unmanned aerial vehicle moves to the designated detection point in the step S2, the data transmission device correspondingly integrates the actual position parameters determined by the GPS positioning module, the parameters collected by each ultrasonic anemoscope and the serial numbers of each ultrasonic anemoscope and then transmits the integrated parameters to the console through the wireless communication module;
s4, after sampling of one sampling point is completed, the staff repeats the step S3 to complete the sampling work of other sampling points and collect related data;
s5, generating a wind speed time course curve and a wind direction rose diagram in the area of the sea-crossing bridge by the console according to the actual position parameters and the corresponding wind speed and direction parameters;
The embodiment is a preferred embodiment of the present invention, and discloses a method for detecting wind speed and wind direction in a cross-sea bridge space, which comprises the following steps:
s1, completing assembly of the telescopic connecting rod and the ultrasonic anemorumbometer, setting a unique number for each ultrasonic anemorumbometer, controlling the unmanned aerial vehicle to hover at a proper position through an unmanned aerial vehicle operating device, and then connecting the combined body of the telescopic connecting rod and the ultrasonic anemorumbometer with the unmanned aerial vehicle;
s2, after the equipment is assembled, controlling the unmanned aerial vehicle to move to a designated detection point through the unmanned aerial vehicle operating device;
s3, positioning the position of the unmanned aerial vehicle in real time by the GPS positioning module, and simultaneously sending the positioning information to the console by the data transmission device;
the staff extracts the received actual position parameters through the data analysis module
And extracting the design position parameter corresponding to the position parameter
；
S4, the data analysis module automatically calculates the error rate between the actual position parameter and the designed position parameter according to the formula
Meanwhile, setting the maximum allowable error rate to be 5%, and automatically judging whether the positioning is accurate by a computer;
s5, if the maximum allowable value is exceededError rate, calculating the corrected coordinate parameters corresponding to the error coordinates synchronously according to the following formula
Then outputting a corresponding result, controlling the unmanned aerial vehicle to move by a worker through an unmanned aerial vehicle operating device, and judging whether the unmanned aerial vehicle is adjusted in place or not by implementing data feedback;
if all the coordinates accord with the allowed maximum error, outputting a corresponding result, and carrying out data acquisition and collection by a worker;
s6, after sampling of one sampling point is completed, the staff repeats the steps S4 and S5 to complete the sampling work of other sampling points and collect related data;
and S7, the console combines the actual position parameters and the corresponding wind speed and direction parameters to generate a wind speed time course curve and a wind direction rose diagram in the area.
Compared with the prior art, the unmanned aerial vehicle with the ratio of the rotor diameter to the rotor center distance not less than 1.2 is selected as the unmanned aerial vehicle for detection, and the principle is that as the number of the rotors of the rotor unmanned aerial vehicle increases, when the unmanned aerial vehicle rises to the same height, the rotation speed and smile of each rotor are increased, the larger the center distance of the rotors is, the larger the calm wind area below the center of the unmanned aerial vehicle is, the smaller the influence of downwash airflow generated by the rotors of the unmanned aerial vehicle on the central area of the unmanned aerial vehicle is, the parameters can effectively avoid the influence of the downwash airflow generated by the rotors on an ultrasonic anemorumbometer installed below the center of the unmanned aerial vehicle, and the detection precision of the ultrasonic anemorumbometer is improved;
meanwhile, the invention also connects the telescopic rods through the shock absorbers, each ultrasonic anemoscope is respectively arranged on each level of telescopic rods, the unmanned aerial vehicle is isolated from the connecting telescopic rods through the shock absorbers, and the shock of the unmanned aerial vehicle is buffered, so that the influence of the shock on the ultrasonic anemoscopes is avoided, and the measurement precision is improved; meanwhile, the shock absorber and the telescopic connecting rod are both hard structures, compared with flexible connecting pieces such as ropes and the like, in the actual flight process, the telescopic connecting rod cannot deflect due to the action of wind power, so that the position relation between each ultrasonic anemoscope and the unmanned aerial vehicle and the position relation between the ultrasonic anemoscopes are relatively fixed, the ultrasonic anemoscopes can be accurately positioned by the unmanned aerial vehicle, the wind speed and wind direction parameters are corresponding to the coordinate position of the space where the bridge is located, the accuracy of gradient wind load is improved, and the accuracy of wind resistance calculation of the bridge is improved;
the natural extension of the telescopic connecting rod releases each ultrasonic anemorumbometer to different heights, and as the telescopic connecting rod has a multi-stage release structure and the specification and size of the telescopic connecting rod are relatively fixed, one unmanned aerial vehicle can simultaneously carry a plurality of sets of ultrasonic anemorumbometers and accurately deliver each ultrasonic anemorumbometer to each detection point, and finally, the coordinate parameters of all the ultrasonic anemorumbometers can be determined only by monitoring the position coordinates of the unmanned aerial vehicle and the size parameters of the telescopic connecting rod, so that the positioning precision is high, the positioning mode is simple and reliable, the equipment is simplified to the maximum extent, the working load of the unmanned aerial vehicle is reduced, and the reliability and the stability of the whole system are improved;
and because a large amount of data can once be collected, unmanned aerial vehicle need not switch between every sampling point, consequently not only improved data acquisition's efficiency, the interval time between each data is shorter simultaneously, can effectively avoid the short time in the data error that the change brought is gathered to the wind speed, improves the accuracy of parameter.
Compared with direct unmanned aerial vehicle sampling in the prior art, the method can effectively improve the data collection efficiency and ensure the parameter precision, and compared with an indirect calculation method, the method can effectively improve the data accuracy by a field collection mode, has the advantages of direct unmanned aerial vehicle sampling and indirect calculation, overcomes the respective defects, and can meet the requirements of bridge design.
Claims (10)
1. The utility model provides a cross sea bridge space wind speed wind direction test system, includes control cabinet (1), unmanned aerial vehicle (2) and ultrasonic wave anemorumbometer (3), its characterized in that: the ratio of the diameter of a rotor wing of the unmanned aerial vehicle (2) to the center distance of the rotor wing is not less than 1.2, the unmanned aerial vehicle (2) is connected with a telescopic connecting rod (5) through a shock absorber (4), the telescopic connecting rod (5) is connected with a plurality of ultrasonic anemorumbometers (3), and the ultrasonic anemorumbometers (3) are stably released to measuring points at different heights in a measuring area through the extension of the telescopic connecting rod (5);
the unmanned aerial vehicle (2) is also fixedly provided with a data transmission device (6), and the detected wind speed and direction parameters and the real-time position parameters of the unmanned aerial vehicle (2) are integrated through the data transmission device (6) and then are sent to the console (1);
the control console (1) is used for receiving the position parameters and the wind speed and direction parameters fed back by the data transmission device (6) and adjusting the array arrangement of the unmanned aerial vehicle (2) according to requirements to obtain the wind speed and direction parameters of a plurality of different point positions.
2. The cross-sea bridge space wind speed and direction test system of claim 1, wherein: the telescopic connecting rod (5) comprises a plurality of stages of telescopic rods (51); every grade telescopic link (51) all is provided with both ends open-ended flexible chamber (52), and the both sides of telescopic link (51) are provided with interior spacing ring (53) and outer spacing ring (54) respectively, and the telescopic link of subordinate in the adjacent two-stage telescopic link (51) slides and inserts the flexible intracavity of higher level's telescopic link to the stable connection of adjacent two-stage telescopic link (51) is realized through outer spacing ring (54) of subordinate's telescopic link and the cooperation of interior spacing ring (53) of higher level's telescopic link.
3. The cross-sea bridge space wind speed and direction test system of claim 2, wherein: a rotary limiting groove (55) and a rotary limiting block (56) which are matched with each other are also arranged between the telescopic cavity (52) of the upper-level telescopic rod and the outer limiting ring (54) of the lower-level telescopic rod.
4. The cross-sea bridge space wind speed and direction test system of claim 2, wherein: the ultrasonic anemoscope is characterized in that the connecting buckle (7) is further sleeved on the telescopic rod (51), the connecting buckle (7) is connected with the fixing rod (9) through the connecting sleeve (8), the ultrasonic anemoscope (3) is connected with the fixing rod (9), and the telescopic rod (51) is further provided with a support ring (57) used for supporting the connecting buckle (7).
5. The cross-sea bridge space wind speed and direction testing system of claim 4, wherein: the fixing rod (9) is of an L-shaped structure, and two ends of the fixing rod are respectively connected with the connecting sleeve (8) and the ultrasonic anemorumbometer (3) through screw threads; the fixing rod (9) is of a hollow structure, and the telescopic rod (51) and the fixing rod (9) are correspondingly provided with threading holes (10).
6. The cross-sea bridge space wind speed and direction test system of claim 1, wherein: the shock absorber (4) comprises a shell (41), a buffer cavity (42) is arranged on the shell (41), a connecting screw rod (43) is arranged at one end of the buffer cavity (42), and a buffer spring (44) is arranged in the buffer cavity (42); a T-shaped compression rod (45) is further arranged in the buffer cavity (42) in a sliding mode, and one end of the compression rod (45) extends out of the shell (41) through a telescopic hole (46) in the bottom of the shell (41).
7. The cross-sea bridge space wind speed and direction test system of claim 1, wherein: the data transmission device (6) comprises a PCB control board (61), one end of the PCB control board (61) is provided with a plurality of data interfaces (62), and the data interfaces (62) are respectively connected with the ultrasonic anemoscope (3) through connecting wires; and a GPS positioning module (63) and a wireless communication module (64) which are respectively connected with the PCB control board (61) are also arranged in the data transmission device (6).
8. The cross-sea bridge space wind speed and direction test system of claim 1, wherein: the control console (1) comprises a main control computer (11), an unmanned aerial vehicle operating device (12) and a wireless communication module (64), wherein the wireless communication module (64) is connected with the main control computer (11) through a modem (13); and a data analysis module used for analyzing the positioning error of the unmanned aerial vehicle and performing post-processing on the wind speed and direction parameters is arranged in the main control computer (11).
9. A cross-sea bridge space wind speed and direction monitoring method is characterized by comprising the following steps:
s1, controlling the unmanned aerial vehicle to hover at the top of the head of a worker through an unmanned aerial vehicle operating device, then connecting the assembly of the telescopic connecting rod and the ultrasonic anemorumbometer with the unmanned aerial vehicle, and simultaneously setting a unique number for each ultrasonic anemorumbometer;
s2, after the equipment is assembled, controlling the unmanned aerial vehicle to move to a designated detection point through the unmanned aerial vehicle operating device;
s3, after the unmanned aerial vehicle moves to the designated detection point in the step S2, the data transmission device correspondingly integrates the actual position parameters determined by the GPS positioning module, the parameters collected by each ultrasonic anemoscope and the serial numbers of each ultrasonic anemoscope and then transmits the integrated parameters to the console through the wireless communication module;
s4, after sampling of one sampling point is completed, the staff repeats the step S3 to complete the sampling work of other sampling points and collect related data;
and S5, generating a wind speed time course curve and a wind direction rose diagram in the area of the cross-sea bridge by the console according to the actual position parameters and the corresponding wind speed and direction parameters.
10. The cross-sea bridge space wind speed and direction monitoring method according to claim 9, characterized in that: the step S3 further includes positioning correction, and it includes the following steps:
a1, extracting the actual position parameter in the received parameters by the data analysis module
And extracting the design position parameter corresponding to the position parameter
；
A2, calculating the error rate between the actual position parameter and the design position parameter according to the formula
Wherein the maximum error rate allowed is 5%;
a3, the data analysis module automatically judges whether the error rate exceeds the maximum allowable value, if so, the data analysis module outputs the corresponding coordinate correction value, wherein the correction parameter of the position coordinate is calculated according to the following formula
The working personnel controls the unmanned aerial vehicle to correct the coordinates through the unmanned aerial vehicle operating device;
and if the coordinates are judged to be correct, outputting a corresponding result, and collecting the wind speed and direction parameters by workers.
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