CN105717934A - Autonomous unmanned aerial vehicle fan blade polling system and method - Google Patents
Autonomous unmanned aerial vehicle fan blade polling system and method Download PDFInfo
- Publication number
- CN105717934A CN105717934A CN201610259711.XA CN201610259711A CN105717934A CN 105717934 A CN105717934 A CN 105717934A CN 201610259711 A CN201610259711 A CN 201610259711A CN 105717934 A CN105717934 A CN 105717934A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- fan blade
- earth station
- unmanned aerial
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000007689 inspection Methods 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 15
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008439 repair process Effects 0.000 description 2
- 241000341910 Vesta Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002688 persistence Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention belongs to the technical field of wind power equipment detection and relates to an autonomous unmanned aerial vehicle fan blade polling system and method. The autonomous unmanned aerial vehicle fan blade polling system comprises an unmanned aerial vehicle used for carrying out automatic polling on fan blades, a polling vehicle used for stopping and placing the unmanned aerial vehicle, a ground station used for receiving and processing image data sent by the unmanned aerial vehicle to control the unmanned aerial vehicle and a specialist terminal used for judging and analyzing the image data of the ground station. The autonomous unmanned aerial vehicle fan blade polling method comprises the following steps: starting polling; positioning; finding a fan nose by the unmanned aerial vehicle after taking off; processing image data, and judging whether the fan nose is found or not; starting an automatic polling mode; shooting fan blades by the unmanned aerial vehicle flying along the edges of the fan blades, and transmitting blade image data to the ground station; determining whether the fan blades are in fault or not by a maintainer, transmitting the fan blades which can not be determined to the specialist terminal, and judging and analyzing by the specialist terminal; and finishing the polling. The autonomous unmanned aerial vehicle fan blade polling system and method have the advantages that on-the-spot control of the maintainer is not required, a vehicle collision accident can be avoided, manpower resource is saved and popularization and application are easy.
Description
Technical field
The invention belongs to wind power equipment detection technique field, relate to a kind of fault cruising inspection system for wind-powered electricity generation fan blade and method, especially a kind of autonomous unmanned plane patrols and examines fan blade system and method.
Background technology
In prior art, in the service technique field of the fan blade of wind energy turbine set, mainly there are following three kinds of maintenance modes:
The first: do not do any regular maintenance, keep in repair afterwards；
This method of operation is prevalent in the wind energy turbine set that China management falls behind relatively, professional maintainer is not had owing to lacking equipment and means, fan blade is not patrolled and examined by such wind energy turbine set, occurs just taking corresponding maintenance measures after obvious fault causes maintainer to note at blade.There is obvious problem in this type of method, one is that maintenance measures cost is high, when a blade goes wrong and need to change, three blades of same Fans must be changed simultaneously, about about 300,000 yuan of the blade of a piece of Vestas, the time changing a blade is 2 to 3 days, expends substantial amounts of manpower, financial resources and time.Two be wind energy turbine set accident mostly contain wind generating the phase, major accident need stop generating, bring huge economic loss to wind energy turbine set.
The second: planned regular visit；
The way the most conventional for the maintenance of fan blade of current wind-powered electricity generation industry is monthly fan blade to be carried out manual inspection.Traditional fan blade manual inspection mode relies primarily on patrol officer and utilizes telescope, high-altitude to detour the mode such as decline visual inspection (spider-man), blade repair platform inspection, only by virtue of experience judges whether abnormal conditions.This pattern does not only exist the problems such as poor stability, workload is big, efficiency is low, and is affected by observation angle, it is impossible to find blade Problems existing comprehensively in time, and Fan Equipment is it is possible to break down interval in overhaul of the equipments.
The third: manual operation unmanned plane carries out blade and patrols and examines；
Current wind-powered electricity generation industry has manual operation unmanned plane to carry out the mode that blade is patrolled and examined at the wind field that Technical comparing is advanced, but this mode is still in experimental stage, also immature, and the method still suffers from problems.One is that operation unmanned plane needs driver to have superb driving skills and abundant driving experience, and this is not available for wind field maintainer.Two is operate reason or extraneous factor impact due to maintainer, and high-revolving unmanned plane blade is likely to get to fan blade, and consequence is extremely serious, produces unnecessary great number property loss.Three is owing to blower fan can not be carried out omnidirectional shooting by the restriction of maintainer's operating technology.Four is that the method needs maintainer the moment unmanned plane to be operated, and still needs substantial amounts of human resources.Five is use owing to the technical limitations of the method is not easy to carry out whole nation wind field spread at China.
In a word, along with the maturation gradually of wind-power market, Large-scale Wind Turbines occurs in succession, and length of blade is also increased to 60～70m by 30 original～40m.The life cycle of Wind turbines is 20 years, and the growth of length of blade and the operation maintenance being added to blade of leaf weight bring challenge.Now traditional blade means of patrolling and examining are that telescope is observed and rope hangs down and drops manual inspection.Traditional blade is patrolled and examined and is had the disadvantage that: it is low that (1) patrols and examines efficiency, and labor strength is big；(2) work high above the ground, routing inspection cost is high；(3) monitoring time is long, shuts down generated energy loss big.More advanced means of patrolling and examining favorably shoot with manual operation unmanned plane close shot, and by image, ground staff judges whether blade breaks down, but this blade routine inspection mode has the disadvantage that: (1) is patrolled and examined inefficient, and labor strength is big；(2) dangerous property, easily causes shock serious consequence；(3) maintainer generally lacks operation this technical ability of unmanned plane, is unfavorable for promoting the use of at each wind field.
Therefore, need badly now a kind of almost without maintainer scene manipulate, be avoided that collision accident, save human resources the unmanned plane promoted the use of at each big wind field that simultaneously facilitates patrol and examine technology.
Summary of the invention
It is an object of the invention to for the deficiencies in the prior art, it is provided that a kind of without maintainer scene manipulate, be avoided that collision accident, save human resources the autonomous unmanned plane promoted the use of at each big wind field that simultaneously facilitates patrol and examine fan blade system and method.
This invention address that the technical scheme of problem is: autonomous unmanned plane patrols and examines fan blade system, including:
For fan blade being carried out the unmanned plane of automatic detecting；
Inspection car for parked unmanned plane；
For receiving and process the view data that unmanned plane sends, to control the earth station of unmanned plane；
For the expert's end view data of earth station judged and analyze；
Described unmanned plane and earth station are wireless connections, and described earth station and expert's end connect；Described unmanned plane includes flight control modules, and the figure transmission module being connected with described flight control modules respectively, digital transmission module, avoidance module, locating module, blade shoot video camera and patrol mark video camera.
Further, described locating module is GPS module.
Further, described inspection car is provided with back bucket, and described unmanned plane is parked in the back bucket of inspection car.
Further, described earth station and expert's end are wireless connections.
Further, described earth station includes the first computer, and described expert's end includes second computer.
A kind of method patrolling and examining fan blade based on the autonomous unmanned plane of described system, comprises the steps:
(1) startup is patrolled and examined: carry out patrol task one-key start operation in earth station, and the positional information of blower fan head to be inspected is sent to unmanned plane；
(2) location: the position of blower fan head to be inspected is positioned by unmanned plane by locating module；
(3) unmanned plane takes off and finds blower fan head: unmanned plane, according to the location Automatic-searching blower fan head in step (2), will patrol mark view data after patrolling mark video camera shooting image and send to earth station；
(4) the mark view data of patrolling received is processed by earth station, it may be judged whether for blower fan head；If judging it is blower fan head, entering step (5), if judging is not blower fan head, returning step (2)；
(5) ground station control unmanned plane opens automatic detecting pattern；
(6) unmanned plane flies along fan blade edge, and fan blade is shot by the video camera of blade shooting simultaneously, and the leaf image data that shooting obtains are sent to earth station through figure transmission module；
(7) the leaf image data that maintainer receives according to earth station, confirm whether fan blade exists fault, for the leaf image data that not can confirm that, is sent to expert's end through earth station, expert's end carries out judging and analyzing；
(8) patrolling and examining end, unmanned plane is according to the location of locating module, in the back bucket of the inspection car of the starting point that automatically flies back.
Further, in described step (1), the positional information of blower fan head to be inspected is sent to unmanned plane through digital transmission module.
Further, in described step (3), step (6) and step (8), in flight course, described unmanned plane controls flight attitude by flight control modules.
Further, in described step (3), step (6) and step (8), in flight course, unmanned plane, by whether there is barrier in the threshold distance of avoidance module detection front, is absent from, continues executing with patrol task；Then sending instruction to flight control modules immediately when barrier being detected, unmanned plane will be back to safety zone by former route, and described safety zone refers in the back bucket of inspection car.
Further, in described step (6), the two sides, front and back of fan blade is respectively once shot by described blade shooting video camera, it is ensured that fan blade is all photographed.
The invention have the benefit that autonomous unmanned plane of the present invention patrols and examines fan blade system and method, by arranging start & shutdown through one key function in earth station, it is achieved that increasingly automated；When operating almost without maintainer, unmanned plane complete independently patrol task, and pass image information back earth station.Having detection of obstacles function in unmanned plane patrol task, when barrier having been detected, unmanned plane flies back safety zone automatically.The image information that earth station accepts can be amplified judging, when finding suspicious points, picture can be amplified and fault is confirmed, high-definition image data for not can confirm that can also judge to expert's end in teletransmission, collected by software platform and be sent in face of the blade expert of expert's end, undertaken judging and analyzing by expert so that the diagnosis of fault is relatively reliable, effectively prevent the impact of anthropic factor.View data will longer-term persistence, facilitate each blade to patrol and examine data with history after patrolling and examining end-of-job and contrast, for the blade life-cycle follow-up mechanism provide valuable data.System and method of the present invention saves human resources, it is simple to promote the use of at each big wind field.
Accompanying drawing explanation
Fig. 1 is the structural representation that autonomous unmanned plane of the present invention patrols and examines fan blade system；
Fig. 2 is the structural representation of the unmanned plane shown in Fig. 1；
Fig. 3 is based on the schematic flow sheet that the autonomous unmanned plane of system described in Fig. 1 patrols and examines the method for fan blade.
In figure: 1-fan blade；2-earth station；3-unmanned plane, 31-flight control modules, 32-figure transmission module, 33-digital transmission module, 34-avoidance module, 35-locating module, 36-blade shooting video camera, 37-patrols mark video camera；4-inspection car；5-expert's end.
Arrows show data transmission direction in figure.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
As shown in Figure 1-Figure 3, autonomous unmanned plane patrols and examines fan blade system, including:
For fan blade 1 being carried out the unmanned plane 3 of automatic detecting；
Inspection car 4 for parked unmanned plane 3；
For receiving and process the view data that unmanned plane 3 sends, to control the earth station 2 of unmanned plane 3；
For the expert's end 5 view data of earth station 2 judged and analyze；
Described unmanned plane 3 and earth station 2 are wireless connections, and described earth station 2 and expert's end 5 connect；Described unmanned plane 3 includes flight control modules 31, and the figure transmission module 32 being connected with described flight control modules 31 respectively, digital transmission module 33, avoidance module 34, locating module 35, blade shoot video camera 36 and patrol mark video camera 37.
Described locating module 35 is GPS module.
Described inspection car 4 is provided with back bucket, and described unmanned plane 3 is parked in the back bucket of inspection car 4.
Described earth station 2 and expert's end 5 are wireless connections.
Described earth station 2 includes the first computer, and described expert's end 5 includes second computer.
A kind of method patrolling and examining fan blade based on the autonomous unmanned plane of described system, comprises the steps:
(1) startup is patrolled and examined: carry out patrol task one-key start operation in earth station 2, and the positional information of blower fan head to be inspected is sent to unmanned plane 3；
(2) location: the position of blower fan head to be inspected is positioned by unmanned plane 3 by locating module 35；
(3) unmanned plane 3 takes off and finds blower fan head: unmanned plane 3, according to the location Automatic-searching blower fan head in step (2), will patrol mark view data after patrolling mark video camera 37 and shooting image and send to earth station 2；
(4) the mark view data of patrolling received is processed by earth station 2, it may be judged whether for blower fan head；If judging it is blower fan head, entering step (5), if judging is not blower fan head, returning step (2)；
(5) earth station 2 controls unmanned plane 3 and opens automatic detecting pattern；
(6) unmanned plane 3 flies along fan blade 1 edge, and fan blade 1 is shot by the video camera 36 of blade shooting simultaneously, and the leaf image data that shooting obtains are sent to earth station 2 through figure transmission module 32；
(7) the leaf image data that maintainer receives according to earth station 2, confirm whether fan blade 1 exists fault, for the leaf image data that not can confirm that, is sent to expert's end 5 through earth station 2, expert's end 5 carries out judging and analyzing；
(8) patrolling and examining end, unmanned plane 3 is according to the location of locating module 35, in the back bucket of the inspection car 4 of the starting point that automatically flies back.
In described step (1), the positional information of blower fan head to be inspected is sent to unmanned plane 3 through digital transmission module 33.
In described step (3), step (6) and step (8), in flight course, described unmanned plane 3 controls flight attitude by flight control modules 31.
In described step (3), step (6) and step (8), in flight course, unmanned plane 3 detects in the threshold distance of front whether there is barrier by avoidance module 34, is absent from, continues executing with patrol task；Then sending instruction to flight control modules 31 immediately when barrier being detected, unmanned plane 3 will be back to safety zone by former route, and described safety zone refers in the back bucket of inspection car.
In described step (6), the two sides, front and back of fan blade 1 is respectively once shot by described blade shooting video camera 36.
The present invention is not limited to above-mentioned embodiment, and when without departing substantially from flesh and blood of the present invention, any deformation that it may occur to persons skilled in the art that, improvement, replacement each fall within protection scope of the present invention.
Claims (10)
1. autonomous unmanned plane patrols and examines fan blade system, it is characterised in that including:
For fan blade being carried out the unmanned plane of automatic detecting；
Inspection car for parked unmanned plane；
For receiving and process the view data that unmanned plane sends, to control the earth station of unmanned plane；
For the expert's end view data of earth station judged and analyze；
Described unmanned plane and earth station are wireless connections, and described earth station and expert's end connect；Described unmanned plane includes flight control modules, and the figure transmission module being connected with described flight control modules respectively, digital transmission module, avoidance module, locating module, blade shoot video camera and patrol mark video camera.
2. autonomous unmanned plane according to claim 1 patrols and examines fan blade system, it is characterised in that described locating module is GPS module.
3. autonomous unmanned plane according to claim 1 patrols and examines fan blade system, it is characterised in that described inspection car is provided with back bucket, and described unmanned plane is parked in the back bucket of inspection car.
4. autonomous unmanned plane according to claim 1 patrols and examines fan blade system, it is characterised in that described earth station and expert's end are wireless connections.
5. autonomous unmanned plane according to claim 1 patrols and examines fan blade system, it is characterised in that described earth station includes the first computer, and described expert's end includes second computer.
6. the method patrolling and examining fan blade based on the autonomous unmanned plane of system described in any one of claim 1-5, it is characterised in that comprise the steps:
(1) startup is patrolled and examined: carry out patrol task one-key start operation in earth station, and the positional information of blower fan head to be inspected is sent to unmanned plane；
(2) location: the position of blower fan head to be inspected is positioned by unmanned plane by locating module；
(3) unmanned plane takes off and finds blower fan head: unmanned plane, according to the location Automatic-searching blower fan head in step (2), will patrol mark view data after patrolling mark video camera shooting image and send to earth station；
(4) the mark view data of patrolling received is processed by earth station, it may be judged whether for blower fan head；If judging it is blower fan head, entering step (5), if judging is not blower fan head, returning step (2)；
(5) ground station control unmanned plane opens automatic detecting pattern；
(6) unmanned plane flies along fan blade edge, and fan blade is shot by the video camera of blade shooting simultaneously, and the leaf image data that shooting obtains are sent to earth station through figure transmission module；
(7) the leaf image data that maintainer receives according to earth station, confirm whether fan blade exists fault, for the leaf image data that not can confirm that, is sent to expert's end through earth station, expert's end carries out judging and analyzing；
(8) patrolling and examining end, unmanned plane is according to the location of locating module, in the back bucket of the inspection car of the starting point that automatically flies back.
7. the method that autonomous unmanned plane according to claim 6 patrols and examines fan blade, it is characterised in that in described step (1), the positional information of blower fan head to be inspected is sent to unmanned plane through digital transmission module.
8. the method that autonomous unmanned plane according to claim 6 patrols and examines fan blade, it is characterized in that, in described step (3), step (6) and step (8), in flight course, described unmanned plane controls flight attitude by flight control modules.
9. the method that autonomous unmanned plane according to claim 8 patrols and examines fan blade, it is characterized in that, in described step (3), step (6) and step (8), in flight course, unmanned plane, by whether there is barrier in the threshold distance of avoidance module detection front, is absent from, continues executing with patrol task；Then sending instruction to flight control modules immediately when barrier being detected, unmanned plane will be back to safety zone by former route, and described safety zone refers in the back bucket of inspection car.
10. the method that autonomous unmanned plane according to claim 6 patrols and examines fan blade, it is characterised in that in described step (6), the two sides, front and back of fan blade is respectively once shot by described blade shooting video camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610259711.XA CN105717934B (en) | 2016-04-25 | 2016-04-25 | Autonomous unmanned plane inspection fan blade system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610259711.XA CN105717934B (en) | 2016-04-25 | 2016-04-25 | Autonomous unmanned plane inspection fan blade system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105717934A true CN105717934A (en) | 2016-06-29 |
| CN105717934B CN105717934B (en) | 2018-09-11 |
Family
ID=56162106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610259711.XA Expired - Fee Related CN105717934B (en) | 2016-04-25 | 2016-04-25 | Autonomous unmanned plane inspection fan blade system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105717934B (en) |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106168810A (en) * | 2016-09-18 | 2016-11-30 | 中国空气动力研究与发展中心高速空气动力研究所 | A kind of unmanned plane during flying obstacle avoidance system based on RTK and method |
| CN106762451A (en) * | 2016-12-05 | 2017-05-31 | 北京金风科创风电设备有限公司 | Fan blade damage detection method, device and system based on unmanned aerial vehicle |
| CN107143468A (en) * | 2017-05-03 | 2017-09-08 | 无锡风电设计研究院有限公司 | A kind of wind power plant cruising inspection system |
| CN107575345A (en) * | 2017-07-27 | 2018-01-12 | 上海交通大学 | A kind of fan blade detection means based on four rotors |
| CN107656537A (en) * | 2016-07-25 | 2018-02-02 | 新疆金风科技股份有限公司 | Unmanned plane route planning method and device, fan blade inspection method and system based on unmanned plane |
| JP2018021491A (en) * | 2016-08-02 | 2018-02-08 | 株式会社日立製作所 | System and flight route generating method |
| CN108252872A (en) * | 2016-12-29 | 2018-07-06 | 财团法人金属工业研究发展中心 | Wind turbine blade face view finding method and its unmanned plane, the computer program product of internally stored program and the medium capable of reading record used |
| CN108357672A (en) * | 2018-03-23 | 2018-08-03 | 李文利 | Wind power generation unit blade detection unmanned plane |
| CN108733079A (en) * | 2018-06-19 | 2018-11-02 | 上海扩博智能技术有限公司 | Automatic detecting flight path is carried out to wind turbine by unmanned plane and determines method and system |
| CN108871409A (en) * | 2018-05-02 | 2018-11-23 | 北京畅东科技有限公司 | A kind of fault detection method and system |
| CN109470712A (en) * | 2018-12-23 | 2019-03-15 | 北京汉文景科技有限公司 | A kind of wind electricity blade detection system |
| CN110007690A (en) * | 2019-05-08 | 2019-07-12 | 北京天龙智控科技有限公司 | A kind of unmanned plane cruising inspection system and method |
| CN110554704A (en) * | 2019-08-15 | 2019-12-10 | 成都优艾维智能科技有限责任公司 | unmanned aerial vehicle-based fan blade autonomous inspection method |
| CN110603379A (en) * | 2017-03-03 | 2019-12-20 | 英诺吉能源公司 | Inspection tool control device for wind power equipment inspection tool |
| CN110701003A (en) * | 2019-11-20 | 2020-01-17 | 山东理工大学 | Automatic detection system and detection method for defects of blades of wind turbine generator |
| EP3622175A4 (en) * | 2017-05-12 | 2020-11-25 | Pro Drones USA, LLC | Apparatus and method for non-destructivein situ |
| CN112150662A (en) * | 2020-08-25 | 2020-12-29 | 国网山东省电力公司惠民县供电公司 | Power system inspection communication system and power system inspection method |
| CN112558632A (en) * | 2020-12-03 | 2021-03-26 | 上海扩博智能技术有限公司 | Unmanned aerial vehicle routing inspection path conversion method, system, equipment and storage medium |
| CN112577606A (en) * | 2020-12-10 | 2021-03-30 | 湖南大学 | Fan blade inspection method for double unmanned aerial vehicles carrying active thermal imaging |
| CN112801432A (en) * | 2019-10-25 | 2021-05-14 | 北京国电思达科技有限公司 | Fan unit blade intelligent inspection system and fan unit blade inspection method |
| CN112947511A (en) * | 2021-01-25 | 2021-06-11 | 北京京能能源技术研究有限责任公司 | Method for inspecting fan blade by unmanned aerial vehicle |
| CN113050693A (en) * | 2021-03-26 | 2021-06-29 | 厦门理工学院 | Unmanned aerial vehicle inspection method, device and equipment for wind power blade detection |
| CN113359815A (en) * | 2021-05-19 | 2021-09-07 | 上海电机学院 | Fan blade unmanned aerial vehicle autonomous obstacle avoidance inspection method and system based on RTK positioning |
| CN114056567A (en) * | 2021-11-22 | 2022-02-18 | 西安热工研究院有限公司 | Wind power blade deicing system and method based on unmanned aerial vehicle cluster |
| CN115442532A (en) * | 2022-09-29 | 2022-12-06 | 上海扩博智能技术有限公司 | Method, system, equipment and storage medium for inspecting fan without stopping |
| CN115562337A (en) * | 2022-10-10 | 2023-01-03 | 无锡海纳智能科技有限公司 | Method for generating fan inspection route and electronic equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120300059A1 (en) * | 2011-05-25 | 2012-11-29 | Jason Stege | Method to inspect components of a wind turbine |
| CN203299134U (en) * | 2013-05-06 | 2013-11-20 | 中国计量学院 | Quadcopter-based wind driven generator blade surface crack detection device |
| CN104215640A (en) * | 2014-08-18 | 2014-12-17 | 南京航空航天大学 | Wind-generator blade defect damage inspection method and inspection system based on unmanned helicopter |
| CN104730081A (en) * | 2015-03-26 | 2015-06-24 | 大唐（赤峰）新能源有限公司 | Failure detection system for wind power blade |
| CN205620817U (en) * | 2016-04-25 | 2016-10-05 | 华北电力大学（保定） | Independently unmanned aerial vehicle patrols and examines fan blade system |
-
2016
- 2016-04-25 CN CN201610259711.XA patent/CN105717934B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120300059A1 (en) * | 2011-05-25 | 2012-11-29 | Jason Stege | Method to inspect components of a wind turbine |
| CN203299134U (en) * | 2013-05-06 | 2013-11-20 | 中国计量学院 | Quadcopter-based wind driven generator blade surface crack detection device |
| CN104215640A (en) * | 2014-08-18 | 2014-12-17 | 南京航空航天大学 | Wind-generator blade defect damage inspection method and inspection system based on unmanned helicopter |
| CN104730081A (en) * | 2015-03-26 | 2015-06-24 | 大唐（赤峰）新能源有限公司 | Failure detection system for wind power blade |
| CN205620817U (en) * | 2016-04-25 | 2016-10-05 | 华北电力大学（保定） | Independently unmanned aerial vehicle patrols and examines fan blade system |
Cited By (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656537A (en) * | 2016-07-25 | 2018-02-02 | 新疆金风科技股份有限公司 | Unmanned plane route planning method and device, fan blade inspection method and system based on unmanned plane |
| JP2018021491A (en) * | 2016-08-02 | 2018-02-08 | 株式会社日立製作所 | System and flight route generating method |
| CN106168810A (en) * | 2016-09-18 | 2016-11-30 | 中国空气动力研究与发展中心高速空气动力研究所 | A kind of unmanned plane during flying obstacle avoidance system based on RTK and method |
| CN106762451A (en) * | 2016-12-05 | 2017-05-31 | 北京金风科创风电设备有限公司 | Fan blade damage detection method, device and system based on unmanned aerial vehicle |
| CN106762451B (en) * | 2016-12-05 | 2018-10-23 | 北京金风科创风电设备有限公司 | Fan blade damage detection method, device and system based on unmanned aerial vehicle |
| CN108252872A (en) * | 2016-12-29 | 2018-07-06 | 财团法人金属工业研究发展中心 | Wind turbine blade face view finding method and its unmanned plane, the computer program product of internally stored program and the medium capable of reading record used |
| CN110603379B (en) * | 2017-03-03 | 2021-08-13 | 英诺吉能源公司 | Inspection tool control device for wind power equipment inspection tool |
| CN110603379A (en) * | 2017-03-03 | 2019-12-20 | 英诺吉能源公司 | Inspection tool control device for wind power equipment inspection tool |
| US11555481B2 (en) | 2017-03-03 | 2023-01-17 | Innogy Se | Inspection device controller for an inspection device of a wind power plant |
| CN107143468A (en) * | 2017-05-03 | 2017-09-08 | 无锡风电设计研究院有限公司 | A kind of wind power plant cruising inspection system |
| EP3622175A4 (en) * | 2017-05-12 | 2020-11-25 | Pro Drones USA, LLC | Apparatus and method for non-destructivein situ |
| CN107575345A (en) * | 2017-07-27 | 2018-01-12 | 上海交通大学 | A kind of fan blade detection means based on four rotors |
| CN108357672A (en) * | 2018-03-23 | 2018-08-03 | 李文利 | Wind power generation unit blade detection unmanned plane |
| CN108871409A (en) * | 2018-05-02 | 2018-11-23 | 北京畅东科技有限公司 | A kind of fault detection method and system |
| CN108733079A (en) * | 2018-06-19 | 2018-11-02 | 上海扩博智能技术有限公司 | Automatic detecting flight path is carried out to wind turbine by unmanned plane and determines method and system |
| CN108733079B (en) * | 2018-06-19 | 2021-08-10 | 上海扩博智能技术有限公司 | Method and system for determining flight path of fan through automatic inspection by unmanned aerial vehicle |
| CN109470712A (en) * | 2018-12-23 | 2019-03-15 | 北京汉文景科技有限公司 | A kind of wind electricity blade detection system |
| CN110007690A (en) * | 2019-05-08 | 2019-07-12 | 北京天龙智控科技有限公司 | A kind of unmanned plane cruising inspection system and method |
| CN110554704A (en) * | 2019-08-15 | 2019-12-10 | 成都优艾维智能科技有限责任公司 | unmanned aerial vehicle-based fan blade autonomous inspection method |
| CN110554704B (en) * | 2019-08-15 | 2022-04-29 | 成都优艾维智能科技有限责任公司 | Unmanned aerial vehicle-based fan blade autonomous inspection method |
| CN112801432B (en) * | 2019-10-25 | 2024-05-10 | 北京国电思达科技有限公司 | Intelligent inspection system for fan set blades and inspection method for fan set blades |
| CN112801432A (en) * | 2019-10-25 | 2021-05-14 | 北京国电思达科技有限公司 | Fan unit blade intelligent inspection system and fan unit blade inspection method |
| CN110701003A (en) * | 2019-11-20 | 2020-01-17 | 山东理工大学 | Automatic detection system and detection method for defects of blades of wind turbine generator |
| CN112150662A (en) * | 2020-08-25 | 2020-12-29 | 国网山东省电力公司惠民县供电公司 | Power system inspection communication system and power system inspection method |
| CN112558632A (en) * | 2020-12-03 | 2021-03-26 | 上海扩博智能技术有限公司 | Unmanned aerial vehicle routing inspection path conversion method, system, equipment and storage medium |
| CN112577606B (en) * | 2020-12-10 | 2022-02-22 | 湖南大学 | Fan blade inspection method for double unmanned aerial vehicles carrying active thermal imaging |
| CN112577606A (en) * | 2020-12-10 | 2021-03-30 | 湖南大学 | Fan blade inspection method for double unmanned aerial vehicles carrying active thermal imaging |
| CN112947511A (en) * | 2021-01-25 | 2021-06-11 | 北京京能能源技术研究有限责任公司 | Method for inspecting fan blade by unmanned aerial vehicle |
| CN113050693B (en) * | 2021-03-26 | 2022-04-19 | 厦门理工学院 | Unmanned aerial vehicle inspection method, device and equipment for wind power blade detection |
| CN113050693A (en) * | 2021-03-26 | 2021-06-29 | 厦门理工学院 | Unmanned aerial vehicle inspection method, device and equipment for wind power blade detection |
| CN113359815A (en) * | 2021-05-19 | 2021-09-07 | 上海电机学院 | Fan blade unmanned aerial vehicle autonomous obstacle avoidance inspection method and system based on RTK positioning |
| CN114056567A (en) * | 2021-11-22 | 2022-02-18 | 西安热工研究院有限公司 | Wind power blade deicing system and method based on unmanned aerial vehicle cluster |
| CN115442532A (en) * | 2022-09-29 | 2022-12-06 | 上海扩博智能技术有限公司 | Method, system, equipment and storage medium for inspecting fan without stopping |
| CN115442532B (en) * | 2022-09-29 | 2023-12-29 | 上海扩博智能技术有限公司 | Method, system, equipment and storage medium for fan non-stop inspection |
| CN115562337A (en) * | 2022-10-10 | 2023-01-03 | 无锡海纳智能科技有限公司 | Method for generating fan inspection route and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105717934B (en) | 2018-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105717934A (en) | Autonomous unmanned aerial vehicle fan blade polling system and method | |
| CN205620817U (en) | Independently unmanned aerial vehicle patrols and examines fan blade system | |
| CN110282143B (en) | Inspection method for offshore wind farm unmanned aerial vehicle | |
| CN105739512B (en) | Unmanned plane automatic tour inspection system and method | |
| CN109961157B (en) | Inspection method and system of solar photovoltaic power generation system | |
| CN205375192U (en) | Unmanned aerial vehicle distribution network system of patrolling and examining based on infrared image technique | |
| CN106762451A (en) | Fan blade damage detection method, device and system based on unmanned aerial vehicle | |
| CN105651780A (en) | Method, apparatus and system for detecting state of blower blade through unmanned plane | |
| CN105511495A (en) | Control method and system for intelligent unmanned aerial vehicle patrol for power line | |
| CN105786017A (en) | Photovoltaic power station survey, operation and maintenance system based on unmanned aerial vehicle | |
| JP2018012477A (en) | Drone application system for achieving safe flight of drone | |
| CN111998832A (en) | Laser point cloud-based inspection method for accurately positioning target object by using unmanned aerial vehicle | |
| CN208873047U (en) | A kind of inspection device based on multi-rotor unmanned aerial vehicle | |
| CN112506214B (en) | Operation flow of unmanned aerial vehicle autonomous fan inspection system | |
| CN211087009U (en) | Contact net inspection device based on aircraft | |
| CN104898693A (en) | UAV inspection system | |
| CN110320926A (en) | A kind of power station detection method and power station detection system based on unmanned plane | |
| KR20210001342A (en) | A system and appratus for managing a solar panel using an unmaned aerial vehicle | |
| CN205440876U (en) | Novel four rotor unmanned aerial vehicle | |
| CN110701003A (en) | Automatic detection system and detection method for defects of blades of wind turbine generator | |
| CN113359815A (en) | Fan blade unmanned aerial vehicle autonomous obstacle avoidance inspection method and system based on RTK positioning | |
| CN206775646U (en) | A kind of engineering construction safety mechanism for monitoring | |
| CN205607881U (en) | Wind turbine blades inspection device based on unmanned aerial vehicle | |
| CN106155071A (en) | A kind of unmanned plane for line patrolling maintenance | |
| CN106094866A (en) | A kind of unmanned plane power circuit polling device and using method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180911 |