CN112987756B

CN112987756B - Blade detection robot, control method and controller

Info

Publication number: CN112987756B
Application number: CN202110432512.5A
Authority: CN
Inventors: 伍京华; 赵涛; 张亚; 张婷
Original assignee: China University of Mining and Technology Beijing CUMTB
Current assignee: China University of Mining and Technology Beijing CUMTB
Priority date: 2021-04-21
Filing date: 2021-04-21
Publication date: 2021-09-24
Anticipated expiration: 2041-04-21
Also published as: CN112987756A

Abstract

The invention discloses a blade detection robot, a control method and a controller. The power unit is used for driving the first adsorption walking part and the second adsorption walking part to move alternately; the defect detection unit comprises an image sensor and/or an infrared thermal imager for detecting the defects of the blade; and the first intelligent control module is used for controlling the working state of the defect detection unit and controlling the other one of the first adsorption walking part and the second adsorption walking part and the blade to be in an adsorption state when the power unit is controlled to drive one of the first adsorption walking part and the second adsorption walking part to move on the blade. The blade detection robot can be used for comprehensively, safely and efficiently detecting the blade, does not omit flaws, defects or stains, and is favorable for realizing intelligent operation and maintenance.

Description

Blade detection robot, control method and controller

Technical Field

The invention relates to the technical field of robots, in particular to a blade detection robot, a control method and a controller.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, and improves the working efficiency and quality. The number of the wind generating sets installed currently in China exceeds one hundred thousand, and after blades of the wind generating sets are used for a long time in a complex natural environment, the blades need to be detected in a targeted mode to eliminate hidden dangers.

When detecting the blade now, mostly tie up the work rope or use the hanging flower basket on one's body through the staff, hang and detect the blade on the blade, because personnel's activity is limited, can not remove in a flexible way, comprehensive safety inadequately when leading to detecting, flaw, defect or stain that exist on can not effectively detect out the blade, and staff's safe risk is big, this application has proposed blade detection robot and control method and has satisfied relevant demand.

Disclosure of Invention

An object of the present application is to provide a blade inspection robot, a control method, and a controller to solve the problems set forth in the background art described above.

In a first aspect, a blade inspection robot is provided, which includes a robot housing, and further includes:

the adsorption walking part comprises a first adsorption walking part and a second adsorption walking part, the first adsorption walking part and the second adsorption walking part respectively comprise two adsorption units and two air cylinder units, and each adsorption unit is connected with one air cylinder unit; each air cylinder unit is used for controlling the adsorption unit connected with the air cylinder unit to move downwards and be in an adsorption state with the surface of the blade to be detected, or controlling the adsorption unit connected with the air cylinder unit to move upwards and be in a desorption state with the surface of the blade to be detected;

a power unit connected to the adsorption traveling part for driving the first adsorption traveling part and the second adsorption traveling part to alternately move;

the defect detection unit is arranged on the robot shell and comprises an image sensor and/or an infrared thermal imager for detecting the defects of the blade; and the number of the first and second groups,

and the first intelligent control module is arranged in the robot shell and used for controlling the working state of the defect detection unit and controlling the other one of the first adsorption walking part and the second adsorption walking part and the blade to be in an adsorption state when the power unit is controlled to drive one of the first adsorption walking part and the second adsorption walking part to move on the blade.

In a second aspect, there is provided a method for controlling a blade inspection robot, the blade inspection robot being the blade inspection robot described above, the method comprising:

controlling a blade detection robot to move on a first surface of a blade to be detected according to a planned path, and controlling to start a defect detection unit of the blade detection robot to acquire defect data of the blade to be detected until the first surface of the blade to be detected is detected;

when the first surface of the blade to be detected is detected, communicating with an unmanned aerial vehicle, and informing the unmanned aerial vehicle to carry out loading operation on the blade detection robot;

when the blade detection robot is detected to be separated from the first surface of the blade to be detected and the distance between the blade detection robot and the first surface of the blade to be detected is larger than a preset safety distance, the blade detection robot communicates with a main controller of a wind generating set to request the main controller to perform variable pitch operation on the blade to be detected until the blade to be detected is turned over to the second surface to be turned upwards horizontally; wherein the first surface is one of a pressure surface and a suction surface, and the second surface is the other of the pressure surface and the suction surface;

after a pitch-variable overturning success signal which is fed back by the main controller and used for representing that the to-be-detected blade is overturned to the second surface horizontally upwards is received, a release signal requesting to release the blade detection robot is sent to the unmanned aerial vehicle;

and when the blade detection robot lands on the second surface of the blade to be detected, controlling the blade detection robot to detect the second surface of the blade to be detected according to a planned path until the detection of the second surface of the blade to be detected is completed.

In a third aspect, a controller of a blade inspection robot is provided, which includes:

one or more processors;

storage means for storing one or more programs;

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement any of the blade inspection robot control methods described above.

In summary, the advantages of the above technical solutions include:

according to the blade detection robot provided by the embodiment of the invention, the blade detection robot is always kept in the adsorption state with the surface of the blade to be detected when moving through the adsorption walking part, so that the blade can be detected more comprehensively, stably and safely, the blade cannot fall off from the surface of the blade, flaws, defects or stains cannot be omitted, the detection effect is improved, the service life is prolonged, and the safety of operation and maintenance personnel is ensured. Through the defect detection unit, when flaws, defects or stains on the blade can be detected, information is fed back to the first intelligent control module, the first intelligent control module sends detection data of the flaws, the defects or the stains to a remote or cloud intelligent operation and maintenance server through a wireless network, and operation and maintenance personnel can conduct remote diagnosis or consultation.

According to the control method of the blade detection robot, the detection work is carried out according to the planned moving path, so that the moving safety boundary of the blade robot can be determined, the forbidden zone of the blade or the dangerous zone on the blade can be avoided, the robot is prevented from falling, the detection efficiency is improved, and the safety is considered.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic perspective view of a first part of a blade inspection robot according to an embodiment of the present invention;

FIG. 2 is a perspective view of a second part of a blade inspection robot according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an internal three-dimensional structure of a blade inspection robot according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an enlarged three-dimensional structure of a second driving motor and a fixed turntable according to an embodiment of the present invention;

FIG. 5 is a partially cut-away perspective view of a blade inspection robot according to an embodiment of the present invention;

FIG. 6 is a schematic view of a cross-sectional enlarged three-dimensional structure of the adsorption walking part according to the embodiment of the present invention;

FIG. 7 is a schematic view of an enlarged three-dimensional structure of the contact chuck, the telescopic rod, and the buffer rod according to the embodiment of the present invention;

FIG. 8 is a schematic view of an enlarged three-dimensional structure of the fixed turntable, the movable plate, and the sliding plate according to the embodiment of the present invention;

FIG. 9 is a schematic view of a walking principle of a blade detection robot according to an embodiment of the present invention;

FIG. 10 is a flow chart of a method of controlling a blade detector person in accordance with an embodiment of the present invention;

FIG. 11 is a schematic diagram of four path plans for a blade inspection robot in accordance with an embodiment of the present invention;

FIG. 12 is a schematic view of a robot radius and safety margin according to an embodiment of the present invention;

FIG. 13 is a schematic view of a safe range of motion on a blade of an embodiment of the present invention;

fig. 14 is a flowchart of a path planning method of a blade inspection robot according to an embodiment of the present invention.

In the figure: 1. a robot housing; 2. mounting a plate; 3. detecting a probe; 4. repairing the component; 5. an I-shaped sliding block; 6. an L-shaped connecting plate; 7. a fixing plate; 8. a flexible hose; 9. an L-shaped fixing plate; 10. contacting the suction cup; 11. a telescopic rod; 12. fixing the rotary table; 13. a telescopic inflator; 14. a second driving motor; 15. fixing the transverse plate; 16. a first intelligent control module; 17. a controller mounting plate; 18. a movable clamping block; 19. a first driving motor; 20. a limiting clamping plate; 21. a movable rack; 22. fixing the rod; 23. a rotating gear; 24. a connecting belt wheel; 25. connecting a belt; 26. a piston; 27. a buffer rod; 28. fixing the catheter; 29. a buffer block; 30. fixing the bent pipe; 31. fixing a pull rod; 32. a sliding plate; 33. an L-shaped limiting plate; 34. a movable plate; 35. a movable shaft; 36. a rotating shaft; 37. a top plate; 38. a support frame; 39. a first electric telescopic cylinder; 40. a second electric telescopic cylinder; 41. a second intelligent control module; 42. a third driving motor; 43. a third electric telescopic cylinder; 44. an electric suction cup; 45. a sensor.

Detailed Description

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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-8, the blade inspection robot includes a robot housing 1, and the blade inspection robot further includes: the adsorption walking part comprises a first adsorption walking part and a second adsorption walking part, the first adsorption walking part and the second adsorption walking part respectively comprise two adsorption units and two air cylinder units, and each adsorption unit is connected with one air cylinder unit; each air cylinder unit is used for controlling the adsorption unit connected with the air cylinder unit to move downwards and be in an adsorption state with the surface of the blade to be detected, or controlling the adsorption unit connected with the air cylinder unit to move upwards and be in a desorption state with the surface of the blade to be detected; the power unit is connected with the adsorption walking part and is used for driving the first adsorption walking part and the second adsorption walking part to alternately move; the defect detection unit is arranged on the robot shell 1 and comprises an image sensor for detecting the surface defects of the blade and/or an infrared thermal imager for detecting the surface defects or the inner layer defects of the blade; and the first intelligent control module 16 is arranged inside the robot shell 1 and used for controlling the working state of the defect detection unit and controlling the other one of the first adsorption walking part and the second adsorption walking part to be in an adsorption state with the blade when the control power unit drives one of the first adsorption walking part and the second adsorption walking part to move on the blade.

In this embodiment, the adsorption walking part comprises a plurality of adsorption units, and the gas cylinder unit is used for controlling and changing the working state of the adsorption unit, so that the adsorption unit is in an adsorption state or a desorption state. Specifically, the air cylinder unit enables the adsorption unit to be attached to and adsorbed by the surface of the blade to be detected through performing air suction operation or vacuumizing operation on the adsorption unit, and the air cylinder unit enables the adsorption unit to be separated from the surface of the blade to be detected through performing air inflation operation on the adsorption unit so as to release adsorption. Further, the plurality of adsorption units comprise a plurality of adsorption units of a first adsorption walking part on a first side and a plurality of adsorption units of a second adsorption walking part on a second side, the first side is parallel to the second side, and the plurality of adsorption units on each side can be driven by the power unit to move linearly. The first intelligent control module is specifically used for controlling the plurality of adsorption units on the first side and the plurality of adsorption units on the second side to be adsorbed on the surface of the blade to be detected alternately when the blade detection robot is controlled to move, so that the blade detection robot always keeps the surface of the blade to be detected and the surface of the blade to be detected in an adsorption state when the blade detection robot moves. The first intelligent control module is specifically used for controlling the adsorption units on the first side to be in a fixed adsorption state with the surface of the blade to be detected when the adsorption units on the first side are controlled to be in a desorption state with the surface of the blade to be detected and controlling the adsorption units on the first side to move; when the plurality of adsorption units on the second side are controlled to be in a desorption state with the surface of the blade to be detected, and the plurality of adsorption units on the second side are controlled to move, the plurality of adsorption units on the first side are also controlled to be in a fixed adsorption state with the surface of the blade to be detected.

Further, referring to fig. 3, each air cylinder unit comprises a telescopic air cylinder 13, and two movable clamping blocks 18 which are symmetrically arranged are fixedly mounted on the side wall of each telescopic air cylinder 13; the bottom of the robot shell 1 is provided with two sliding holes, the inner wall of one sliding hole is in sliding fit with two telescopic air cylinders 13 of the first adsorption walking part, and the inner wall of the other sliding hole is in sliding fit with two telescopic air cylinders 13 of the second adsorption walking part; and the power unit is connected with four movable clamping blocks 18 close to the center of the inner wall of the bottom side of the robot shell 1. The movable latch 18 may be any one of metal blocks known in the art, which is welded or screwed to the sidewall of the telescopic cylinder 13. Wherein, four movable clamping blocks 18 close to the center position of the inner wall at the bottom side of the robot shell 1 are connected through a power unit for controlling the advancing.

Referring to fig. 6, the cartridge unit may further include: a piston 26 slidably mounted on the inner wall of the telescopic cylinder 13; the telescopic rod 11 is fixedly arranged at the bottom of the piston 26; wherein, each telescopic link 11 is provided with an adsorption unit, and each adsorption unit is respectively connected with a telescopic air cylinder 13.

Referring to fig. 1, a robot housing 1 is mounted with a defect detecting unit for detecting a defect of a blade, the defect detecting unit including a plurality of detecting probes 3, the detecting probes 3 including: an infrared thermal imager and/or an image sensor.

The adsorption walking part, the defect detection unit and the power unit are all connected with the first intelligent control module 16. Through the setting of adsorbing the walking portion, more nimble stability when making blade inspection robot remove can carry out more comprehensive detection to the blade, makes the blade can be detected better, can not omit flaw, defect or stain, has reduced personnel's work risk, and blade inspection robot life is longer.

In this embodiment, as shown in fig. 7, the bottom of the telescopic rod 11 has a buffer slot, and the inner wall of the buffer slot has a spring slot, and the adsorption unit includes: a buffer block 29, a buffer rod 27, a contact suction cup 10 and a spring;

wherein, slidable mounting has buffer 29 on the inner wall of spring groove, and buffer 29's bottom fixed mounting has buffer rod 27, and buffer rod 27's bottom fixed mounting has contact sucking disc 10, and buffer 29's top fixed mounting has the spring, and the spring sets up with the axle center with the spring groove, and contact sucking disc 10 is connected with flexible inflator 13. Through the setting of absorption unit, make the inside air of contact sucking disc 10 inhale flexible inflator 13 in, make contact sucking disc 10 can hug closely on the blade surface, make the absorption that blade inspection robot can be stable on the blade surface, make flaw, defect or the stain that blade inspection robot can be better exist on the detection blade surface, it is more stable when making blade inspection robot use, detection effect is better.

As shown in fig. 5 and 6, the side wall of the telescopic inflator 13 is provided with an air vent, the inner wall of the air vent is fixedly provided with a fixed conduit 28, the bottom end of the fixed conduit 28 is fixedly provided with a telescopic hose 8, the bottom end of the telescopic hose 8 is fixedly provided with a fixed bent pipe 30, the top contacting with the suction cup 10 is provided with an air vent, and the fixed bent pipe 30 is fixedly arranged on the inner wall of the air vent. Through the setting of bellows 8, the inside atmospheric pressure of bellows 13 reduces, make bellows 13 begin to inhale through the air guide hole, through fixed pipe 28, bellows 8, fixed return bend 30, make the inside air of contact sucking disc 10 inhaled in the bellows 13, make contact sucking disc 10 hug closely on the blade surface, and then make the absorption that blade inspection robot can be stable at the blade surface, prevent it and fall the damage, and under extreme or abominable climatic environment, through the suction or the vacuum degree that increases contact sucking disc, can make blade inspection robot firmly be fixed in and wait to detect the blade surface, guarantee its security.

As a preferred embodiment of this embodiment, as shown in fig. 3, the power unit includes a first driving motor 19 fixedly mounted on the top inner wall of the blade detection robot housing 1, and two symmetrically disposed movable racks 21 correspondingly fixedly mounted on the side walls of the four movable blocks 18 near the center position of the bottom inner wall of the robot housing 1, a rotating gear 23 is fixedly attached to the output end of the first driving motor 19, both the two movable racks 21 are engaged with the rotating gear 23, and the first intelligent control module 16 is connected to the first driving motor 19. Optionally, a through hole corresponding to each movable rack 21 may be further disposed on the outer shell 1 of the blade detection robot, so that each movable rack 21 can extend out or retract from the through holes on the front side and the rear side of the outer shell 1, so as to drive the blade detection robot to move at a larger step distance. When the first driving motor 19 rotates clockwise, the two contact suckers 10 on the first side are fixed with the surface of the blade, the two contact suckers 10 on the second side are released from the surface of the blade, so that the first driving motor 19 drives the rack 21 of the second side to move the two contact suckers 10 of the second side, after the two contact suction cups 10 on the second side are moved to the target positions, the first intelligent control module 16 controls the two contact suction cups 10 on the second side to be fixedly adsorbed with the surface of the blade, and controls the two contact suction cups 10 of the first side to release the suction-fixed state with the blade surface, and then the first driving motor 19 is controlled to rotate anticlockwise, so that the first driving motor 19 drives the rack 21 on the first side to drive the two contact suckers 10 on the first side to move, and the blade detection robot can move towards the same direction through repeated and alternate control. Through the setting of power unit, make blade inspection robot can continuously advance, make blade inspection robot can carry out more comprehensive efficient to the blade and detect, detection effect is better.

Further, two limiting clamping plates 20 are correspondingly and fixedly mounted on two opposite inner walls of the robot housing 1, and the limiting clamping plates 20 may be any metal plate in the prior art and are welded and fixed with the inner walls of the robot housing 1. The top fixed mounting of two spacing cardboard 20 has controller mounting panel 17, and the top fixed mounting of controller mounting panel 17 has first intelligent control module 16, and perhaps, the top fixed mounting of controller mounting panel 17 has first intelligent control module 16 and second intelligent control module 41, and first intelligent control module 16 is connected with second intelligent control module 41.

As a preferred embodiment of this embodiment, as shown in fig. 1 to 5, the top ends of four telescopic air cylinders 13 are respectively correspondingly contacted with the bottoms of two limit catch plates 20, wherein the bottom of each limit catch plate 20 is contacted with the top ends of two telescopic air cylinders 13, top plates 37 are fixedly mounted on two opposite side walls of the robot housing 1, second electric telescopic cylinders 40 are fixedly mounted at the bottoms of the two top plates 37, support frames 38 are fixedly mounted at the output ends of the two second electric telescopic cylinders 40, rollers are rotatably mounted at the bottom ends of the two support frames 38 through rollers, a third driving motor 42 is fixedly mounted at the bottom of the robot housing 1, a third electric telescopic cylinder 43 is drivingly mounted at the output end of the third driving motor 42, an electric suction cup 44 is fixedly mounted at the output end of the third electric telescopic cylinder 43, a sensor 45 is fixedly mounted on a side wall of the robot housing 1, the second electric telescopic cylinder 40, the third driving motor 42, the third electric telescopic cylinder 43, the electric suction cup 44 and the sensor 45 are all connected with the first intelligent control module 16. Through the setting of spacing cardboard 20, more stable smooth and easy when making telescopic inflator 13 remove, make the more smooth and easy removal of blade inspection robot, electric chuck 44 makes the blade inspection robot can carry out the switching-over and remove, and the gyro wheel makes the blade inspection robot stability when removing better, the phenomenon of skew can not appear, makes the blade inspection robot can be more comprehensive detect the blade.

As a preferred embodiment of the present embodiment, as shown in fig. 6, a driving unit for driving the four telescopic rods 11 is further installed on the robot housing 1, and the driving unit is connected to the first intelligent control module 16.

In this embodiment, as shown in fig. 4 and 8, the robot housing 1 has two opposite sidewalls each having a moving hole, and the driving unit includes: the two I-shaped sliding blocks 5, the two L-shaped connecting plates 6, the two fixed transverse plates 15, the two L-shaped fixed plates 9, the two fixed plates 7, the two second driving motors 14, the two rotating shafts 36, the four connecting belt wheels 24, the two connecting belts 25, the four fixed rotary tables 12, the four movable plates 34, the four movable shafts 35, the four sliding plates 32 and the four fixed pull rods 31.

Wherein, as shown in fig. 4, equal slidable mounting has an I-shaped slider 5 on every removal hole, the equal fixed mounting in one side that two I-shaped sliders 5 kept away from each other has L shape connecting plate 6, the equal fixed mounting in bottom of every L shape connecting plate 6 has fixed diaphragm 15, the equal fixed mounting in bottom of two fixed diaphragms 15 has a fixed plate 7, the equal fixed mounting in one side that two fixed diaphragms 15 kept away from each other has L shape fixed plate 9, the equal fixed mounting in one side that two L shape fixed plates 9 are close to each other has a second driving motor 14.

As shown in fig. 8, one side of each of the two fixed plates 7 close to each other is rotatably provided with a rotating shaft 36, the two rotating shafts 36 and the output ends of the two second driving motors 14 are fixedly sleeved with the connecting belt wheels 24, the four connecting belt wheels 24 are correspondingly tensioned with two connecting belts 25, one ends of the two rotating shafts 36 and the output ends of the two second driving motors 14 are fixedly provided with the fixed turntables 12, one side of each of the four fixed turntables 12 close to each other is rotatably provided with the movable plate 34 through the rotating column, and the other ends of the four movable plates 34 are rotatably connected with the sliding plates 32 through the movable shafts 35.

As shown in fig. 6 and 7, the side walls of the four sliding plates 32 are all fixedly provided with fixed pull rods 31, one ends of the four fixed pull rods 31 are respectively fixedly provided on the side walls of the four telescopic rods 11, and the two second driving motors 14 are all connected with the first intelligent control module 16. Through the setting of fixed rotating disk 12, under the drive of connecting belt 25, make four fixed rotating disk 12 all take place to rotate, make the column spinner drive fly leaf 34 and take place to rotate, make the absorption that blade inspection robot can be stable on the blade surface, make flaw, defect or the stain that blade inspection robot can be better exist on the detection blade surface.

In the present embodiment, as shown in fig. 6, L-shaped limit plates 33 are fixedly mounted at the bottoms of the four telescopic cylinders 13, limit holes are opened at the bottoms of the four L-shaped limit plates 33, and the four sliding plates 32 are slidably mounted on the inner walls of the four limit holes, respectively. Through the setting of L shape limiting plate 33, make the removal that sliding plate 32 can be more stable, make the blade inspection robot can be stable adsorb on the blade surface, make flaw, defect or the stain that the detection blade surface that the blade inspection robot can be better exists, it is more stable when making the blade inspection robot use, detection effect is better.

As a preferred embodiment of this embodiment, as shown in fig. 1 to fig. 3, the defect detecting unit includes a fixing rod 22 fixedly installed at the bottom of the robot housing 1, a first electric telescopic cylinder 39 is fixedly installed on a side wall of the fixing rod 22, a mounting plate 2 is fixedly installed at an output end of the first electric telescopic cylinder 39, a plurality of uniformly arranged detecting probes 3 and/or repairing assemblies 4 are fixedly installed at the bottom of the mounting plate 2, the first electric telescopic cylinder 39 is connected to the first intelligent control module 16, and the plurality of detecting probes 3 are all connected to the first intelligent control module 16. Through the setting of defect detecting element, make first electronic telescoping cylinder 39 drive inspection probe 3 and can detect flaw, defect or stain on the blade, feedback information gives first intelligent control module 16, and first intelligent control module 16 sends the detection data of flaw, defect or stain to long-range or the intelligent fortune dimension server in high in the clouds through wireless network, supplies fortune dimension personnel to carry out remote diagnosis or consultation. Further, the intelligent operation and maintenance server obtains at least one of the following according to the received detection data related to the blade defect: the method comprises the steps of visualizing a defect distribution map on a blade to be detected, defect types, quantity statistical data corresponding to each type of defects and the grade (severity) of the defects. Thereby be favorable to realizing the visual long-range intelligence operation and maintenance to the blade, arrange to adopt suitable restoration scheme to include: repair tools, repair opportunities, repair time, repair cost, and the like.

In another embodiment, the defect detection unit transmits the collected blade surface image data and/or the blade infrared thermal imaging data to the first intelligent control module for analysis and identification, the first intelligent control module determines a specific blade defect classification and identification result based on the data and a built-in pre-trained machine learning or deep learning based blade defect identification model, and associates and stores the blade surface image data, the blade infrared thermal imaging data and the blade defect classification and identification result and transmits the result to the intelligent operation and maintenance center server at the far end or the cloud end, so that the intelligent operation and maintenance center server can draw a visual view of blade defect statistical information and/or distribution conditions.

In a further embodiment, the blade detection robot may further be configured with: the robot positioning module is used for acquiring coordinate information of the blade detection robot in real time; the defect positioning module is used for determining distance information and azimuth information of the blade defect relative to the blade detection robot; the first intelligent control module is also used for: and storing the coordinate information, the distance information, the azimuth information and the blade defect image data in a correlation manner, packaging and sending the coordinate information, the distance information, the azimuth information and the blade defect image data to an intelligent operation and maintenance center server in a correlation manner, so that the intelligent operation and maintenance center server can draw a visual view of the blade defect distribution condition. The robot positioning module adopts a Beidou or GPS positioning module, for example, or determines the coordinates of the robot by counting the moving steps of the robot and combining the path planning of the robot. The defect positioning module may be an image analysis processor for analyzing the collected inspection image, the image of the blade inspection robot is located at the center of the inspection image, the blade defects are distributed in a circular or rectangular area near the center, and the relative coordinate values and distribution quadrants of the blade defects with respect to the blade inspection robot can be determined by image processing.

In yet another embodiment, when the inspection probe detects a flaw, defect or stain on the blade, the inspection probe feeds back information to the first intelligent control module, the first intelligent control module performs verification and confirmation, when the verification is passed, the surface image, video or thermal imaging picture indicating the inner layer defect of the defect is cached locally, and the surface image, video or thermal imaging picture is sent to the intelligent operation and maintenance server in the cloud periodically or in real time. The first intelligent control module is used for measuring and calculating at least one parameter of the range, the area, the depth, the length and the width of the defect, and transmitting a parameter calculation result and a surface image, a video or a thermal imaging picture indicating the inner layer defect of the defect to the intelligent operation and maintenance server in the cloud end in a related mode, so that remote intelligent detection visualization, quantification and accurate operation and maintenance can be realized.

In particular, the inspection apparatus may comprise a non-destructive inspection apparatus for non-destructive inspection of the blade. The non-destructive inspection apparatus may be based on X-ray inspection, ultrasonic inspection, microwave inspection, acoustic emission inspection, fiber optic sensor inspection, infrared thermography inspection techniques. The non-destructive inspection apparatus may detect surface defects and/or internal damage to the blade. Further, the nondestructive testing device can detect and identify different degrees of damage generated by the blade in the operation process. The main forms of blade damage based on long-term operation include: surface wear, blisters, cracks, fractures, blade material carbonization due to lightning strikes, and substrate aging, among others. The inventor finds that the abrasion of the blade and the decrease of the surface smoothness, the whistle and the increase of the resistance after the sand hole appear, and the safe operation of the fan is influenced. The external impact is the main cause of cracks, the cracks are usually caused by defect damage accumulation, the blades of the fan cannot be suddenly cracked under the normal operation condition, and the matrix aging is caused by the long-term work of the fan blades under the severe conditions of sand dust, rainwater and salt mist corrosion. The crack may be a crack normal to the blade surface or a laterally propagating crack. In a preferred embodiment, the nondestructive testing device can be an infrared nondestructive testing device, such as an infrared thermal imager. The inventors have found that infrared thermographic inspection techniques are capable of detecting several defects typical of blades made of glass fibres, such as defects of the delamination, debonding and bleeding type. And, the larger the defect size and the shallower the depth, the larger the maximum surface temperature difference formed during cooling, and the easier it is to detect using an infrared thermal imager. In another preferred embodiment, the nondestructive testing apparatus further comprises: the image sensor or the digital camera is used for shooting a high-definition image and a high-resolution image of the blade surface in the moving process of the blade detection robot on the blade surface, associating, combining and storing the blade surface image and the corresponding position information on the blade surface together, enabling the blade surface image and the corresponding position information on the blade surface to correspond to each other, and remotely transmitting the blade surface image and the position information of the image on the blade surface to a server or a ground computer through the first intelligent control module or the second intelligent control module and the wireless communication module for image analysis so as to locate the blade defect.

In a further embodiment, when the blade inspection robot is configured with the repair component 4, the blade inspection robot can move forward and backward in a reciprocating manner beside the flaw, defect or stain, so that the repair component 4 moves back and forth to perform a back and forth repair operation on the flaw, defect or stain, thereby repairing the flaw or defect on the blade. The repair assembly 4 may include any one or more of the following: the welding repair assembly comprises a welding gun and an X-ray flaw detection device, the X-ray flaw detection device detects a welding air hole after welding repair operation so as to confirm that the welding repair work reaches the standard, and an early warning prompt is sent to maintenance personnel when the welding repair work does not reach the standard; the polishing and repairing assembly is used for polishing and repairing the defect position of the blade; the glue injection paint assembly is used for applying primer solution and/or glue to the damaged area of the blade and curing the primer solution and/or glue applied to the damaged area through the heating component; and a printing assembly including a nozzle and a curing device for ejecting the resin deposition material towards the damaged area of the blade, the curing device including an induction heating device for heating and curing the resin deposition material.

Further, the blade detection robot further comprises a second intelligent control module 41 electrically connected to the first intelligent control module 16 for:

when the blade detection robot needs to be switched from the first surface of the blade to be detected to the second surface of the blade to be detected, the blade detection robot communicates with the unmanned aerial vehicle, and the unmanned aerial vehicle is informed to carry out loading operation on the blade detection robot so as to fix the blade detection robot on the unmanned aerial vehicle; wherein the first surface is one of a pressure surface and a suction surface, and the second surface is the other of the pressure surface and the suction surface;

when the blade detection robot is detected to be separated from the first surface of the blade to be detected and the distance between the blade detection robot and the first surface of the blade to be detected is larger than a preset safety distance, the blade detection robot communicates with a main controller of the wind generating set, and the main controller is requested to execute a variable pitch operation on the blade to be detected, so that the blade is turned over by changing the pitch by 180 degrees;

after a 180-degree variable pitch overturning success signal wirelessly fed back by the main controller is received, a release signal requesting release of the blade detection robot is sent to the unmanned aerial vehicle;

when the blade detection robot lands on the second surface of the blade to be detected after the 180-degree variable pitch turning, the first intelligent control module 16 is triggered to control the blade detection robot to execute detection operation on the second surface.

Further, still dispose wireless communication module on this blade inspection robot for carry out wireless communication with unmanned aerial vehicle and wind generating set's main control unit. The wireless communication module is electrically connected to the second intelligent control module 41. Further, a distance measuring sensor, such as a distance measuring radar, is disposed on the blade detection robot for detecting a first distance and a second distance between the blade detection robot and the first surface or the second surface of the blade, and determining whether the blade detection robot is separated from the first surface or the second surface of the blade based on the first distance; or determining that the distance between the blade detection robot and the first surface of the blade is greater than a preset safe distance based on the second distance. The second distance is greater than the first distance. In some other possible embodiments, a pressure sensor is provided for feeding back a contact signal to the first or second intelligent control module when the blade detection robot is in contact with the blade surface, and the first or second intelligent control module determines whether the blade detector person is in contact with the first or second side of the blade based on the contact signal detection.

In an alternative embodiment, the functionality of the second intelligent control module 41 is incorporated into the first intelligent control module 16, i.e., the second intelligent control module 41 may be omitted, with its functionality loaded into the first intelligent control module 16.

In a further embodiment, the first intelligent control module 16 further comprises: the path planning module is used for planning a moving path of the blade detection robot or receiving path planning configuration information input from the outside, so that the blade detection robot performs detection work according to the planned moving path, a moving safety boundary of the blade detection robot is determined, a blade forbidden area or a dangerous area on a blade is avoided, the robot is prevented from falling, the detection efficiency is improved, and the safety is also considered.

The working principle of the embodiment of the invention is as follows:

when using the blade detection robot, load this blade detection robot on unmanned aerial vehicle earlier, control unmanned aerial vehicle through unmanned aerial vehicle's ground workstation and carry this blade detection robot and stably descend in the upper surface of waiting to detect the blade, unmanned aerial vehicle and the separation of this blade detection robot.

The first intelligent control module 16 controls to start the two second driving motors 14, so as to rotate the connecting belt wheel 24, under the driving of the connecting belt 25, the four fixed rotating discs 12 are all rotated, so that the rotating column drives the movable plate 34 to rotate, so that the movable shaft 35 pushes and pulls the sliding plate 32, the fixed pull rod 31 pushes and pulls the telescopic rod 11, the contact suction disc 10 contacts with the surface of the blade, the piston 26 slides in the telescopic air cylinder 13, so that the internal air pressure of the telescopic air cylinder 13 is reduced, the telescopic air cylinder 13 starts to suck air through the air guide hole, the air in the contact suction disc 10 is sucked into the telescopic air cylinder 13 through the fixed guide pipe 28, the telescopic hose 8 and the fixed elbow 30, the negative pressure is formed in the contact suction disc 10 and is adsorbed on the surface of the blade, so that the blade detection robot can stably stop on the surface of the blade, and the blade detection robot is more stable and safe in use, the detection effect is better.

When the blade detection robot moves, the second electric telescopic cylinder 40 at the same side of the first adsorption walking part is controlled to drive the support frame 38 to move downwards, so that the roller at the bottom of the support frame 38 contacts the surface of the blade, the second driving motor 14 at the same side is controlled to rotate, the telescopic rod 11 of the first adsorption walking part drives the piston 26 to move in the telescopic air cylinder 13, air in the telescopic air cylinder 13 can be extruded into the contact suction cups 10, the two contact suction cups 10 of the first adsorption walking part are separated from the blade, the first driving motor 19 is controlled to rotate, the rotating gear 23 is controlled to rotate, the two movable racks 21 are further relatively moved, and as the two contact suction cups 10 of the second adsorption walking part of the blade detection robot are still adsorbed on the surface of the blade, the movable racks 21 at the same side of the second adsorption walking part are kept still relatively to the blade, and the other side movable rack 21 moves relative to the blade and drives the first adsorption walking part to move in the same direction, and the robot shell 1 also moves in the same direction, when the first adsorption walking part moves to the limit position, the first driving motor 19 is stopped, the second driving motor 14 at the side of the first adsorption walking part is controlled, so that the two contact suction cups 10 of the first adsorption walking part are adsorbed on the surface of the blade again, the second electric telescopic cylinder 40 at the same side of the first adsorption walking part is controlled to drive the supporting frame 38 to retract away from the surface of the blade, and then the movement of the second adsorption walking part of the blade detection robot is realized according to the similar control flow, and further the blade detection robot can continuously move forward by repeating the above operations, when the blade detection robot needs to move forward in the direction changing, the third electric telescopic cylinder 43 is started, the electric suction cup 44 is lowered, so that the electric suction cup 44 is started to be adsorbed on the surface of the blade, and then make four contact suction cups 10 all with the blade separation, start third driving motor 42, drive robot housing 1 and take place to rotate, and then make blade detection robot realize the switching-over, and then make blade detection robot can carry out more comprehensive detection to the blade.

Fig. 9 is a schematic view of a walking principle of the blade detection robot according to the embodiment of the invention. As shown in fig. 9, the process of the blade inspection robot walking on the blade is decomposed into the following steps:

step S1: the blade detection robot is in an initial state;

step S2: two suckers 10 of the left adsorption walking part of the blade detection robot are adsorbed on the surface of the detected blade; the two suckers 10 of the right adsorption walking part of the blade detection robot are separated from the blade; the rotary gear 23 rotates counterclockwise in a direction looking down on the blade inspection robot. The right movable rack 21 of the blade detection robot moves forwards to drive the right adsorption walking part of the blade detection robot to move forwards; at the same time the robot housing 1 moves forward together with the turning gear 23.

Step S3: two suckers 10 of the adsorption walking part on the right side of the blade detection robot are adsorbed on the surface of the detected blade; the two suckers 10 of the left side adsorption walking part of the blade detection robot are separated from the blade; the rotary gear 23 rotates clockwise in a direction of looking down the blade inspection robot. The movable rack 21 on the left side of the blade detection robot moves forwards to drive the left adsorption walking part of the blade detection robot to move forwards; while the robot housing 1 moves forward together with the rotary gear 23.

The steps S2 and S3 are alternately performed, so that the function of walking and moving the blade detection robot is realized.

Step S4: when the blade detection robot stops moving, the movable racks 21 on both sides are retracted to the initial state by the rotation of the rotating gear 23.

When blade inspection robot gos forward, open a plurality of test probe 3, make test probe 3 can last to discern the detection to the blade surface, make blade inspection robot can not leak the surface wear who examines on the blade, the sand hole, the crackle, the fracture, blade material carbonization and base member are ageing etc., when the place that is difficult for moving to such as monitoring blade apex, start first electric telescopic cylinder 39, make test probe 3 can be taken to move farther place, make blade inspection robot's detection effect better, can detect more difficult places that detect on the blade, it is more convenient more stable when making blade inspection robot use.

In some optional embodiments, when the detection probe 3 detects a flaw, a defect, or a stain on the blade, information can be fed back to the first intelligent control module 16, so that the first intelligent control module 16 controls the first driving motor 19 and the second driving motor 14, the blade detection robot can move forward and backward around the flaw, the defect, or the stain, the robot housing 1 drives the fixing rod 22 to move back and forth, and the mounting plate 2 drives the repairing assembly 4 to move back and forth, so that the repairing assembly 4 performs back and forth repairing processing on the flaw, the defect, or the stain.

When external wind power is great, through sensor 45, it can be anemorumbometer, can detect wind speed and wind direction, and then gives first intelligent control module 16 wind speed signal and wind direction signal that detect, and then makes first intelligent control module 16 control blade inspection robot, makes four contact suction cups 10 all adsorb on the blade surface, and stability is better when making blade inspection robot use, can not take place the risk that drops.

When the blade inspection robot needs to be switched to the other blade surface, the second intelligent control module 41 communicates with the unmanned aerial vehicle to inform the unmanned aerial vehicle to load the blade inspection robot, so that the blade inspection robot is fixed on the unmanned aerial vehicle again. Unmanned aerial vehicle is fixed with this blade detector people, then flies from the current surface of blade, makes this blade detector people with wait to detect the current surface phase separation of blade. In some embodiments, the unmanned aerial vehicle is provided with a fixing device such as an adsorption device, a hook device or an electric clamp, and the fixing device is used for fixing the blade detection robot on the unmanned aerial vehicle. In some embodiments, the adsorption device may be an electromagnetic adsorption device, and generates magnetism to adsorb the robot housing 1 made of metal to the unmanned aerial vehicle after being powered on. In other embodiments, the suction device may be an electric suction cup for suction fixing the flat surface of the robot housing 1 with the drone. In still other embodiments, the surface of the robot housing 1 is further provided with a fixing buckle, and a hook is further configured on the body of the unmanned aerial vehicle, and the blade detection robot is fixed on the unmanned aerial vehicle by connecting the ground flyer control hook with the fixing buckle.

The second intelligent control module 41 is also in communication with a main controller of the wind generating set, and triggers or requests the main controller to execute a pitch control operation on the blade to be detected, so that the blade is turned over by 180 degrees. After receiving the trigger signal or the request signal, the main controller controls the blade to perform 180-degree pitch turning, and wirelessly feeds back a response signal indicating that the 180-degree pitch turning is successful to the second intelligent control module 41 after the pitch turning operation is completed.

The second intelligent control module 41 sends a release signal to the drone requesting the release of the blade detection robot. After receiving the release signal, the unmanned aerial vehicle releases the blade detection robot from the fixed state and lands on the other surface of the blade turned by 180 degrees, namely, in the safe moving range of the second surface.

Then, the second intelligent control module 41 notifies the first intelligent control module 16 to perform the inspection operation on the second face of the blade to be inspected.

The technical scheme has the advantages that:

in addition, the first electric telescopic cylinder is started, so that the detection probe can be driven to move to a farther place, the blade detection robot can detect more places on the blade which are difficult to detect, and the detection probe comprises a camera and an infrared thermal imager, which is favorable for detecting the surface defects and the inner layer defects of the blade.

When the blade detection robot is used, the blade detection robot is placed on the surface of the blade, the first intelligent control module starts the two second driving motors to rotate in turn, two pairs of contact suckers on the same side are attached to the surface of the blade in turn, and the blade detection robot can be stably attached to the surface of the blade. When the blade detection robot moves, the two contact suckers on one side are separated from the blade by control, the roller is contacted with the surface of the blade, the first driving motor is controlled to rotate, the moving directions of the two movable racks are opposite, and the blade detection robot can continuously move forward by repeating the above operations. When the advancing direction of the blade robot needs to be changed, the third electric telescopic cylinder is controlled to be started, the electric suckers are made to descend and be adsorbed on the surface of the blade, the four contact suckers are made to be separated from the blade, the third driving motor is started, the blade detection robot is made to realize reversing, the blade detection robot is made to adapt to different planning paths, and the blade can be detected more comprehensively, efficiently and safely. In addition, the sucker units are separated from the surfaces of the blades when moving, so that the abrasion of the sucker group units can be reduced, and the service life is prolonged. The blade robot keeps the adsorption units on one side and the surfaces of the blades in an adsorption state when moving, can adapt to complex climate and gradient during blade detection, and reduces the risks of side turning, slipping and overturning of the robot.

The blade detection robot provided by the embodiment of the invention has the advantages that the I-shaped sliding block 5 can move more stably due to the moving hole, the telescopic air cylinder 13 can move more stably and smoothly due to the limiting clamping plate 20 and the movable clamping block 18, the telescopic air cylinder 13 cannot be separated from the sliding hole, the blade detection robot can move more smoothly, the blade detection robot can better detect the blade, the contact suction cups 10 on the same side can move more synchronously due to the connecting belt wheel 24 and the connecting belt 25, the blade detection robot can move more stably, a better detection effect can be achieved, the blade detection robot can be more firmly adsorbed on the surface of the blade, the blade detection robot cannot fall off, and the service life of the blade detection robot is longer.

Fig. 10 is a flowchart of a detection control method of a blade detector person according to an embodiment of the present invention. As shown in fig. 10, the specific control process of the detection control system includes the following steps:

s110: sending a control signal to start the blade detection robot, for example, starting a power unit of the blade detection robot, so that the blade detection robot starts to move on the first surface of the blade to be detected; in this step, the first intelligent control module sends out a control signal to start a driving motor of the blade detection robot.

S120: controlling an anemorumbometer on the blade detection robot to start working, or controlling the blade detection robot to acquire wind speed data and wind direction data from the anemorumbometer configured on the wind generating set, and judging whether the wind speed exceeds a safe working threshold value; specifically, the anemorumbometer can detect wind power (wind speed) and wind direction in real time, the first intelligent control module judges whether the anemorumbometer exceeds a preset safe working threshold value or not by evaluating the wind speed and the wind direction, and sends out an alarm signal if the anemorumbometer exceeds the safe working threshold value, and sends out a detection starting signal if the anemorumbometer does not exceed the safe working threshold value.

S130: when the wind speed and/or the wind direction exceed the corresponding safe working threshold value, controlling the blade detection robot to give an alarm and stopping the blade detection robot; furthermore, the suction force of the sucker can be increased, so that the blade detection robot is firmly adsorbed on the surface of the blade;

s140: and when the wind speed does not exceed the corresponding safe working threshold value, controlling to start a detection probe of the blade detection robot, automatically scanning the first surface of the blade to be detected, and acquiring defect data on the first surface of the blade to be detected. Specifically, the blade is inspected for the presence of flaws, defects, stains, etc. The blade defect data obtained by scanning can be stored in a local memory of the blade detection robot or transmitted to a maintenance center server or a cloud server through a mobile communication network or a wireless local area network. The defect data includes: at least one of defect type, defect number and relative position information of the defect on the blade. Wherein, this test probe includes: an infrared thermal imager and/or an image sensor.

S150: controlling a blade detection robot (such as a power unit thereof) to move continuously according to a planned path, and acquiring defect data of the blade to be detected through a detection probe until the first surface of the blade to be detected is detected; wherein the first surface is a pressure surface or a suction surface. Further, the acquired defect data of the blade to be detected is continuously sent to the remote or cloud intelligent operation and maintenance server through the wireless communication module in the detection process. Further, during the process of detecting the movement along the planned path, steps S120, S130, and S140 may be further performed, that is, current wind speed data and/or wind direction data are continuously monitored during the movement detection process, whether a corresponding safety threshold is exceeded or not is determined, when the safety threshold is not exceeded, the safety threshold is controlled to continue to perform the detection work, and when the safety threshold is exceeded, the blade detection robot is controlled to stop moving, close the detection probe, and enhance the suction force contacting the suction cup.

S160: when the first surface of the blade to be detected is detected, the first surface is communicated with the unmanned aerial vehicle, and the unmanned aerial vehicle is informed to carry out loading operation on the blade detection robot;

s170: when the blade detection robot is detected to be separated from the first surface of the blade to be detected and the distance between the blade detection robot and the first surface of the blade to be detected is larger than a preset safety distance, the blade detection robot communicates with a main controller of the wind generating set, the main controller is requested to execute a variable pitch operation on the blade to be detected, the blade to be detected is turned 180 degrees by taking a variable pitch axis as a center, and the blade to be detected is turned to the second surface horizontally upwards; wherein the second face is a suction face or a pressure face;

s180: after a pitch-variable overturning success signal which is fed back by the main controller and used for representing that the blade to be detected is overturned to the second surface horizontally upwards is received, a releasing signal for requesting to release the blade detection robot is sent to the unmanned aerial vehicle;

s190: when the blade detection robot lands on the second surface of the blade to be detected after the 180-degree variable pitch turnover (for example, when the blade detection robot is in the safe moving range of the second surface), the blade detection robot is controlled to detect the second surface of the blade to be detected according to the planned path until the detection of the second surface of the blade to be detected is completed.

Further, the blade detection robot sends a work completion prompt signal to a maintenance worker, and the completion of the detection of a single blade is indicated.

Fig. 11 is a schematic diagram of four path planning of a blade inspection robot according to an embodiment of the present invention. As shown in fig. 11, the precondition (assumption) condition of path planning is: the planned approximate paths of the 4-bar robot walking at present are shown in fig. 11, and the blade detection robot is used for carrying out manual control experiments on the four paths for different types of blades, and experimental data are classified (data classification is carried out according to the blade type number) and stored. The path planning scheme comprises the following steps: a path starting point located at the maximum chord length of the blade, a path turning point located near the blade root, and a path ending point located near the blade tip; alternatively, the starting point of the path is located near the tip of the blade, the turning point of the path is located near the root of the blade, and the ending point of the path is located at the maximum chord length of the blade. Fig. 11 shows four possible path planning schemes, which are a path planning scheme one to a path planning scheme four from top to bottom. In the first and second path planning schemes, P1 is the starting point of the path, P2, P3 and P4 are the turning points of the path, and P5 is the ending point of the path. The connecting line between P1 and P2, the connecting line between P2 and P3, the connecting line between P3 and P4 and the connecting line between P4 and P5 are all straight lines. That is, the path between any two adjacent path nodes is a straight path, and P2, P3, P4 are not collinear, and P3, P4, P5 are not collinear. In the third and fourth path planning schemes, P1 is a path starting point, P2 and P3 are path turning points, P4 is a path ending point, and P1, P2 and P3 are not collinear, and P2, P3 and P4 are not collinear.

Based on a machine learning principle and the characteristics of the blade to be detected, a path planning model of the blade detection robot is constructed by taking the optimized detection path as a target according to information such as operation data of the existing robot on the set path and the blade model parameters. The path planning model takes basic parameter information of various blade models and corresponding path track test data as input, comprehensively considers the safety of robot activities and the high efficiency of detection, outputs the optimal path selection corresponding to the blades of each model, and positions of the unmanned aerial vehicle for grabbing and releasing the blade detection robot. Aiming at the safety and the high efficiency of two important indexes in the path planning process, the modeling of the whole path planning is carried out in the model construction process by further considering the principle of high efficiency detection based on the safety.

From the safety perspective of the blade detection robot, the safe moving range of the blade detection robot on different types of blades needs to be calculated. The design safety range mainly considers that the robot is prevented from bringing potential safety hazards when being released or grabbed by the unmanned aerial vehicle, for example, the robot can cause unexpected slipping and other situations when being released to the blade in the moment that the body of the robot is unstable in landing, namely, the safety of the robot in the releasing or grabbing process is fully ensured.

Fig. 12 is a schematic view of the radius and safety margin of the robot according to the embodiment of the invention. As shown in FIG. 12, assume that the inspection robot's shell is exceeding the maximum value of the blade edge to be inspected

Cannot slide from the edge of the blade, and the maximum radius of the bottom of the blade detection robot is assumed to be

. Under the condition of ensuring that the robot cannot slide off, the shortest distance from the gravity center position of the robot to the edge of the blade is called as a minimum safety margin, and the minimum safety margin

The calculation formula is as follows:

in the formula (I), the compound is shown in the specification,

the outer circle radius of the shell of the blade detection robot is shown;

the maximum value is that the shell of the blade detection robot cannot slide off the edge of the blade to be detected when the shell exceeds the edge of the blade to be detected;

in addition, because the sizes of the blades of different types and the structures such as the slope gradient are different, the blades of different types correspond to each other

The values are different, and the optimal values of all types of blades are obtained by training the historical movement tracks of the blades of different types

The value is obtained. By obtaining correspondence between different types of blades

Value, the safe edge distance of the blade can be calculated

. According to the safe edge distance of the blade

The safe moving range of the blades of different models can be further determined.

And determining the position of the unmanned aerial vehicle for grabbing or releasing the blade detection robot according to the safe moving range of the blades of different models. The position of the unmanned aerial vehicle grabbing and releasing robot needs to be guaranteed within a safe moving range, taking a certain blade model as an example, a safe range schematic diagram is shown in fig. 13, wherein an inner area defined by a boundary Z1 is a safe range. And finally, determining the safe position of the unmanned aerial vehicle releasing (launching) the blade detection robot according to the safe moving range, and/or determining the walking path of the blade detection robot according to the safe moving range, and constraining the walking path.

In a preferred embodiment of the present invention,

the training process of the values may comprise the steps of:

firstly, for each model of blade, the coordinate data of the gravity center position of the blade detection robot in the historical motion track of the blade detection robot on the model of blade is utilized

And blade edge coordinate data

And calculating the weight of the blade detection robot corresponding to each track point in the historical motion trackSpatial distance from heart to blade edge

：

Calculating the space distance from the gravity center of the blade detection robot to the edge of the blade in a plurality of historical motion trail data

Average spatial distance of

:

Wherein, among others,

the data representing the historical motion track comprises

The number of the groups is set to be,

is represented by

Calculating the space distance from the gravity center of the blade detection robot to the edge of the blade by combining the historical motion trail data;

detecting average spatial distance from center of gravity to edge of robot by combining blades

And the outer circle radius of the shell of the blade detection robot

And calculating the maximum value beta of the shell of the wind power blade detection robot when the shell exceeds the edge of the blade to be detected and cannot slide from the edge of the blade to be detected:

。

in an alternative embodiment, to achieve fine control and safety concerns, the blade is divided into a plurality of regions and then the corresponding β value in each region of the blade is determined. For example, the blade may be divided into a root region, a leaf region, and a tip region, and β corresponding to the blade in the root region, the leaf region, and the tip region may be determined₁、β₂、β₃. A person skilled in the art can set accordingly more blade regions and correspondingly more values for beta.

In the region of the blade root, will beta₁The determination is as follows:

。

in the lobular region, converting beta₂The determination is as follows:

(ii) a Wherein the content of the first and second substances,Min_dthe space distance from the gravity center of the blade detection robot corresponding to each track point in the historical motion track to the edge of the blade

Is measured.

In the tip region, beta is₃The determination is as follows:

(ii) a Wherein the content of the first and second substances,Max_dthe space distance from the gravity center of the blade detection robot corresponding to each track point in the historical motion track to the edge of the blade

Is measured.

In a preferred embodiment, the determining of the safe activity range specifically includes the following steps:

suppose that the coordinate data of the gravity center position of the blade detection robot is

When the edge coordinate data of the blade to be detected on the corresponding side is

According to the space distance from the gravity center of the blade detection robot to the edge of the blade to be detected

And the minimum safe margin from the gravity center position of the blade detection robot to the edge of the blade to be detected

Therefore, the following steps are carried out: if it satisfies

If not, the blade detection robot is in a non-safe moving range.

Fig. 14 is a flowchart of a path planning method of a blade inspection robot according to an embodiment of the present invention. As shown in FIG. 14, in the above safe movement range, the efficiency is further considered, and the comprehensive efficiency characteristic is firstly needed to be carried out on the operation track data of the blade detection robot

And then training from the existing marking data by using a logistic regression model to obtain the weight of the corresponding feature, and determining the optimal detection path suitable for the blades of different models by calculating the comprehensive efficiency score.

The optimal detection path obtained by utilizing the following first step to fifth step iteration comprises the following steps:

the first step is as follows: extraction healdResultant efficiency characteristic

Wherein

Specific characteristics relating to efficiency are expressed as follows:

feature(s)

: the blade detection robot actually walks the length along the planned path, and the smaller the numerical value is, the better the numerical value is;

feature(s)

: the blade detection robot actually walks along the planned path for a long time, and the smaller the numerical value is, the better the numerical value is;

feature(s)

: the difficulty of detecting the robot by releasing the blades of the unmanned aerial vehicle on the planned path is solved, the time consumed for releasing and/or the return distance of the unmanned aerial vehicle are taken as reference standards, and the smaller the numerical value is, the better the numerical value is; wherein the release time is as follows: the time consumed by the unmanned aerial vehicle to release the blade detection robot from the target safety position to the preset position (e.g., the starting point) of the planned path. The target safety position is: the preset position outside the variable pitch rotating range of the blade to be detected comprises the following steps: in the vertical direction, the target safety position is a position where the vertical distance between the blade detection robot and the first surface or the second surface of the blade to be detected is greater than a preset first safety distance; and/or in the horizontal direction, the target safety position is a position where the horizontal distance between the blade detection robot and the front edge or the rear edge of the blade to be detected is greater than a preset second safety distance. In a possible embodiment, an emergency landing point of the unmanned aerial vehicle is arranged on a hub (which is in a locking state when blade detection is performed) of the wind turbine generator or a cabin, and the unmanned aerial vehicle enables the blade detection robot to move from a target safety positionAnd after releasing to the preset position of the planned path, returning to the emergency landing point, wherein the returning distance is associated with the distance between the preset position of the planned path and the emergency landing point. For example, if the preset position of the planned path is the starting point, and the starting point is located at different positions of the blade to be detected, the return distances of the unmanned aerial vehicle are different. The return distance of the path starting point at the tip of the blade is greater than the return distance of the path starting point at the root of the blade.

Feature(s)

: the difficulty of the unmanned aerial vehicle grabbing the blade detection robot on the planned path is calculated, the grabbing time consumption and/or the flight distance of the unmanned aerial vehicle are taken as reference standards, and the smaller the numerical value is, the better the numerical value is; wherein, snatch consuming time and mean: the time consumed by the unmanned aerial vehicle to grab the blade detection robot from a preset position (e.g., a terminal point) on the planned path to the target safety position. After the unmanned aerial vehicle finishes the task of releasing the blade detection robot, the unmanned aerial vehicle can return to the emergency landing point on the hub or the engine room, when a grabbing instruction is received, the unmanned aerial vehicle takes off from the emergency landing point and flies above the blade detection robot, the blade detection robot is grabbed to the target safety position from the preset position of the planned path, the flying distance of the unmanned aerial vehicle is detected and determined, and the flying distance is related to the distance between the preset position on the planned path and the emergency landing point. For example, if the preset position of the planned path is the terminal point, the flight distances of the unmanned aerial vehicle are different when the terminal point is located at different positions of the blade to be detected. The flight distance when the path end point is located at the tip portion is larger than the flight distance when the path start point is located at the root portion.

Feature(s)

: the blade detection robot detects the times of the change of the moving direction along the planned path, and the smaller the value, the better the value. The change of the moving direction refers to the change of the moving direction of the blade detection robot from moving along a first straight line to moving along a second straight line, and the first straight line and the second straight line have a non-zero included angle. Can be used forAlternatively, the number of times of the change of the moving direction may be determined by the number of times of the rotation of the third sled motor 42. The third driving motor 42 can change the moving direction of the blade detecting robot by rotating the required angle each time.

In an optional embodiment, the method further comprises:

feature(s)

: the blade detects the number of times of the sliding condition of the robot along the planned path, and the smaller the value, the better the value. Specifically, the blade detection robot may slide or slip when moving along the planned path due to the gradient of the surface of the blade, so that the path deviation may occur. When the blade detection robot moves on different planned paths, the sliding times of some paths are possible, the sliding times of some paths are few, and when the sliding times are many, the path is not a proper path. Thus, by detecting the number of slips or path deviations thereof, the efficiency characteristics can be measured. The number of times the path deviation occurs can be monitored, for example, by a positioning module configured on the blade inspection robot. Correspondingly, the following weight matrix Y also includes AND

Corresponding weight value

。

Further, before the first step is performed, a data preprocessing step is also performed.

The second step is that: and carrying out normalization processing on the features.

In order to improve the training speed and the classification accuracy of the model, the extracted features need to be further normalized, and the normalization processing is favorable for improving the training speed of the model, and the normalization method selected in the embodiment of the present invention may be a Min-Max normalization method (dispersion normalization method):

the method realizes the equal scaling of the original characteristic data,

in order to be the normalized feature data,

in order to be the original characteristic data,

respectively, the maximum and minimum values in the raw feature data. The normalized data are all [0,1 ]]In the meantime.

The third step: and acquiring the feature weight.

Because the reference values of different efficiency-related indexes are different, in the process of considering the high efficiency, the weights of different characteristics need to be trained in addition to the selection of the efficiency-related characteristics, and the specific steps are as follows:

firstly, a small amount (for example, 30% of a preset proportion) of historical operation track data of the existing blade detection robot needs to be randomly selected for preprocessing, marked feature data are obtained, namely, the marked feature data are marked by evaluating the efficiency of the part of path data, wherein the efficiency is higher than a preset threshold value or the efficiency is lower than the preset threshold value, the label corresponding to the historical operation track data with the efficiency higher than the preset threshold value is 1, and the label corresponding to the historical operation track data with the efficiency lower than the preset threshold value is-1. The criteria for high and low manual marking efficiency may be that the differentiation is made based on the integrated duration for the blade inspection robot to completely inspect one blade, which does not include the downtime performed by the blade inspection robot to avoid inclement weather.

Then, training the labeled feature data through logistic regression to obtain the weight of the features corresponding to the efficient classification, namely, performing curve fitting on the known data through the logistic regression method to obtain the following curve equation:

in the formula

The curve function generated for the logistic regression also represents the operation efficiency level of the blade detection robot,

is a constant number of times, and is,

、

are respectively as

A corresponding weight;

through the equation, the comprehensive efficiency characteristic can be further obtained

The corresponding weight matrix is as follows:

。

in an alternative embodiment, the execution sequence of the normalization processing step in the second step may be adjusted to be after the labeling preprocessing step in the third step, that is, the labeling preprocessing step is performed first, then the normalization processing step is performed, and then the step of training the feature data after the labeling preprocessing and the normalization processing by logistic regression is performed to obtain the curve equation.

The fourth step: and calculating a comprehensive efficiency score.

After the weight corresponding to each feature is obtained, score calculation is carried out on the rest 70% of the existing blade detection robot operation track data to obtain the comprehensive score of each group of data

The lower the score, the higher the efficiency,

the specific calculation is as follows:

the fifth step: and automatically selecting an optimal path according to the comprehensive efficiency score.

And a sixth step: and executing the optimal detection path, generating the running track data, and using the running track data as new sample data of the blade detection robot for self-learning and iterative computation of the optimal detection path.

Aiming at different types of blades, automatically corresponding to the blades

And selecting the path with the lowest score in the score range as the optimal detection path of the detection.

Therefore, after safety elements and efficiency elements are comprehensively considered, through the steps, the intelligent selection of the optimal path for each type of blade can be finally realized, and the position for fixed-point launching or grabbing of the unmanned aerial vehicle can be determined. In addition, subsequent operation data can be stored in real time by the system and used as subsequent training data to continuously optimize the safety range and the parameters of the optimal path selection process.

Although the present application provides method steps as described in an embodiment or flowchart, more or fewer steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual apparatus or end product executes, it may execute sequentially or in parallel (e.g., parallel processors or multi-threaded environments, or even distributed data processing environments) according to the method shown in the embodiment or the figures.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. A blade inspection robot, includes robot housing (1), its characterized in that still includes:

the defect detection unit is arranged on the robot shell (1) and comprises an image sensor and/or an infrared thermal imager for detecting blade defects;

the first intelligent control module (16) is arranged inside the robot shell (1) and is used for controlling the working state of the defect detection unit and controlling the other one of the first adsorption walking part and the second adsorption walking part to be in an adsorption state with the blade to be detected when the power unit is controlled to drive one of the first adsorption walking part and the second adsorption walking part to move on the blade to be detected;

a second intelligent control module (41) electrically connected to the first intelligent control module (16), the second intelligent control module (41) configured to:

when the blade detection robot needs to be switched from the first surface of the blade to be detected to the second surface of the blade to be detected, the blade detection robot communicates with the unmanned aerial vehicle, and the unmanned aerial vehicle is informed to carry out loading operation on the blade detection robot; wherein the first surface is one of a pressure surface and a suction surface, and the second surface is the other of the pressure surface and the suction surface;

when the blade detection robot is detected to be separated from the first surface of the blade to be detected and the distance between the blade detection robot and the first surface of the blade to be detected is larger than a preset safety distance, the blade detection robot communicates with a main controller of a wind generating set to request the main controller to execute a variable pitch operation on the blade to be detected, so that the blade to be detected realizes 180-degree variable pitch turnover;

after a 180-degree variable pitch overturning success signal fed back by the main controller is received, sending a release signal requesting release of the blade detection robot to the unmanned aerial vehicle;

when the blade detection robot lands on the second surface of the blade to be detected after the 180-degree variable pitch turning, the first intelligent control module (16) is triggered to control the blade detection robot to execute detection operation on the second surface.

2. The blade inspection robot of claim 1, wherein:

each air cylinder unit comprises a telescopic air cylinder (13), and two movable clamping blocks (18) which are symmetrically arranged are fixedly arranged on the side wall of each telescopic air cylinder (13);

the bottom of the robot shell (1) is provided with two sliding holes, the inner wall of one sliding hole is in sliding fit with the two telescopic air cylinders (13) of the first adsorption walking part, and the inner wall of the other sliding hole is in sliding fit with the two telescopic air cylinders (13) of the second adsorption walking part;

the power unit is connected with four movable clamping blocks (18) close to the center of the inner wall of the bottom side of the robot shell (1).

3. The blade detecting robot according to claim 2, wherein the gas cylinder unit further comprises:

a piston (26) slidably mounted on the inner wall of the telescopic cylinder (13);

the telescopic rod (11) is fixedly arranged at the bottom of the piston (26);

each telescopic rod (11) is provided with one adsorption unit, and each adsorption unit is respectively connected with one telescopic air cylinder (13).

4. The blade inspection robot of claim 3, wherein: the dashpot has been seted up to telescopic link (11) bottom, the spring groove has been seted up on the inner wall of dashpot, it includes to adsorb the unit: a buffer block (29), a buffer rod (27), a contact suction disc (10) and a spring;

wherein, slidable mounting has on the inner wall of spring groove buffer block (29), the bottom fixed mounting of buffer block (29) has buffer beam (27), the bottom fixed mounting of buffer beam (27) has contact sucking disc (10), the top fixed mounting of buffer block (29) has the spring, the spring with the spring groove sets up with the axle center, contact sucking disc (10) with flexible inflator (13) are connected.

5. The blade inspection robot of claim 4, wherein: the air guide hole has been seted up on the lateral wall of flexible inflator (13), fixed mounting has fixed pipe (28) on the inner wall of air guide hole, the bottom fixed mounting of fixed pipe (28) has bellows (8), the bottom fixed mounting of bellows (8) has fixed return bend (30), the bleeder vent has been seted up at the top of contact sucking disc (10), fixed return bend (30) fixed mounting in on the inner wall of bleeder vent.

6. The blade inspection robot of claim 2, wherein the power unit comprises:

the first driving motor (19) is fixedly installed on the inner wall of the top of the robot shell (1), the output end of the first driving motor (19) is fixedly connected with a rotating gear (23) in a sleeved mode, and the first intelligent control module (16) is connected with the first driving motor (19); and the number of the first and second groups,

the movable racks (21) are symmetrically arranged, each movable rack (21) is fixedly arranged on the side walls of the two movable clamping blocks (18) close to the center position of the inner wall of the bottom side of the robot shell (1), and the two movable racks (21) are meshed with the rotating gear (23).

7. The blade inspection robot of claim 2, wherein:

two limiting clamping plates (20) are correspondingly and fixedly installed on two opposite inner walls of the robot shell (1), a controller installation plate (17) is fixedly installed at the tops of the two limiting clamping plates (20), and the first intelligent control module (16) is fixedly installed at the top of the controller installation plate (17);

four the top of flexible inflator (13) corresponds respectively with two the bottom of spacing cardboard (20) contacts, equal fixed mounting has roof (37) on two relative lateral walls of robot housing (1), two the bottom fixed mounting of roof (37) has electronic telescopic cylinder of second (40), two the equal fixed mounting of the output of electronic telescopic cylinder of second (40) has support frame (38), two the gyro wheel is all installed through the roller rotation in the bottom of support frame (38).

8. The blade inspection robot of claim 7, wherein:

a third driving motor (42) is fixedly installed at the bottom of the robot shell (1), a third electric telescopic cylinder (43) is installed at the output end of the third driving motor (42) in a driving mode, and an electric sucker (44) is fixedly installed at the output end of the third electric telescopic cylinder (43);

the robot comprises a robot shell (1) and is characterized in that a sensor (45) is fixedly mounted on the side wall of the robot shell (1), a second electric telescopic cylinder (40), a third driving motor (42), a third electric telescopic cylinder (43), an electric sucker (44) and the sensor (45) are connected with a first intelligent control module (16).

9. The blade inspection robot of claim 3 or 4, wherein: the robot shell (1) is also provided with a driving unit for driving the four telescopic rods (11), and the driving unit is connected with the first intelligent control module (16);

the robot housing (1) has moving holes formed on two opposite side walls, and the driving unit includes: the device comprises two I-shaped sliding blocks (5), two L-shaped connecting plates (6), two fixed transverse plates (15), two L-shaped fixed plates (9), two fixed plates (7), two second driving motors (14), two rotating shafts (36), four connecting belt wheels (24), two connecting belts (25), four fixed turntables (12), four movable plates (34), four movable shafts (35), four sliding plates (32) and four fixed pull rods (31);

the two H-shaped sliding blocks (5) are slidably mounted on each moving hole, an L-shaped connecting plate (6) is fixedly mounted on one side, away from each other, of each H-shaped sliding block (5), a fixing transverse plate (15) is fixedly mounted at the bottom of each L-shaped connecting plate (6), a fixing plate (7) is fixedly mounted at the bottom of each fixing transverse plate (15), an L-shaped fixing plate (9) is fixedly mounted on one side, away from each other, of each fixing transverse plate (15), and a second driving motor (14) is fixedly mounted on one side, close to each other, of each L-shaped fixing plate (9);

one side, close to each other, of each of the two fixed plates (7) is rotatably provided with one rotating shaft (36), the two rotating shafts (36) and the output ends of the two second driving motors (14) are fixedly sleeved with the connecting belt wheels (24), the four connecting belt wheels (24) are correspondingly tensioned with two connecting belts (25), one ends of the two rotating shafts (36) and the output ends of the two second driving motors (14) are fixedly provided with the fixed turntables (12), one sides, close to each other, of the four fixed turntables (12) are rotatably provided with the movable plates (34) through rotating columns, and the side walls of the four movable plates (34) are rotatably provided with the sliding plates (32) through the movable shafts (35);

the side walls of the four sliding plates (32) are fixedly provided with the fixed pull rods (31), one ends of the four fixed pull rods (31) are fixedly arranged on the side walls of the four telescopic rods (11) respectively, and the two second driving motors (14) are connected with the first intelligent control module (16).

10. A method of controlling a blade inspection robot, the blade inspection robot being the blade inspection robot according to any one of claims 1 to 9, the method comprising:

11. The method of claim 10, further comprising:

determining the minimum safe margin from the gravity center position of the blade detection robot to the edge of the blade to be detected according to the following formula

：

Wherein the content of the first and second substances,

the outer circle radius of the shell of the blade detection robot is shown;

according to the safety margin of the blade to be detected

And determining the safe moving range of the moving path of the blade detection robot on the blade to be detected.

12. The method of claim 11, further comprising:

for each type of blade, utilizing the coordinate data of the gravity center position of the blade detection robot in the historical motion trail data of the blade detection robot on each type of blade

And blade edge coordinate data

Calculating the space distance from the gravity center of the blade detection robot corresponding to each track point in the historical motion track to the edge of the blade

：

；

Average spatial distance of

:

；

Wherein the content of the first and second substances,

the data representing the historical motion track comprises

The number of the groups is set to be,

is represented by

calculating the beta value of each type of blade according to the following formula:

。

13. method according to claim 12, wherein the blade safety margin according to the blade to be detected

Determining the safe moving range of the moving path of the blade detection robot on the blade to be detected comprises the following steps:

if the space distance from the gravity center of the blade detection robot to the edge of the blade to be detected

Minimum safe margin from the gravity center position of the blade detection robot to the edge of the blade to be detected

And the blade detection robot is in a safe moving range.

14. The method according to any one of claims 10-13, wherein planning the path comprises: iteratively obtaining an optimal detection path by using the following first to fifth steps, wherein the first to fifth steps comprise:

the first step is as follows: comprehensive efficiency characteristic matrix for extracting historical operation track data of blade detection robot

Wherein, in the step (A),

feature(s)

The actual walking length of the blade detection robot along the planned path is determined;

feature(s)

The actual walking time of the blade detection robot along the planned path is determined;

feature(s)

The difficulty of the unmanned aerial vehicle on the planned path for releasing the blade detection robot is determined, and the release time is taken as a reference standard;

feature(s)

The difficulty of the unmanned aerial vehicle for grabbing the blade detection robot on the planned path is determined, and grabbing time consumption is taken as a reference standard;

feature(s)

The number of times of the change of the moving direction of the blade detection robot along the planned path;

the second step is that: for the comprehensive efficiency characteristic matrixXIs normalized, comprising the following steps:

according to the dispersion standardization method, the extracted comprehensive efficiency characteristic matrix is subjected toXEach specific feature in (1) is normalized respectively:

；

the normalized feature data, the raw feature data,

respectively a maximum value and a minimum value in the original characteristic data;

the third step: obtaining a feature weight, comprising the steps of:

randomly selecting historical moving track data of the blade detection robot with a first preset proportion to carry out marking pretreatment to obtain marked characteristic data, wherein the pretreatment comprises the following steps: recording a label corresponding to the historical operation track data with the efficiency higher than a preset threshold value as 1, and recording a label corresponding to the historical operation track data with the efficiency lower than the preset threshold value as-1;

training the marked feature data through logistic regression, namely performing curve fitting on the normalized and marked feature data to obtain the following curve equation:

；

in the formula (I), the compound is shown in the specification,

a curve function generated for logistic regression, the curve function representing blade inspection robot operationThe level of efficiency is higher than that of the prior art,

is a constant number of times, and is,

、

are respectively as

A corresponding weight;

obtaining a comprehensive efficiency characteristic matrix through the curve equation

The corresponding weight matrix is as follows:

；

the fourth step: calculating a composite efficiency score comprising the steps of:

calculating scores of the running track data of the blade detection robot in the second preset proportion to obtain the comprehensive efficiency score of each group of running track data

Said

The calculation formula of (a) is as follows:

；

the fifth step: and selecting an optimal detection path according to the comprehensive efficiency score.

15. A controller of a blade inspection robot, comprising:

one or more processors;

storage means for storing one or more programs;

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a method of controlling a blade inspection robot as recited in any of claims 10-14.