CN105717934B - Autonomous unmanned plane inspection fan blade system and method - Google Patents
Autonomous unmanned plane inspection fan blade system and method Download PDFInfo
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- 230000004888 barrier function Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 4
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- 238000010248 power generation Methods 0.000 description 2
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- 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
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- 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
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Abstract
The invention belongs to wind power equipment detection technique fields, are related to a kind of autonomous unmanned plane inspection fan blade system and method.The system comprises：Unmanned plane for carrying out automatic detecting to fan blade；Inspection car for parked unmanned plane；Image data for receiving and processing unmanned plane transmission, to control the earth station of unmanned plane；The expert end for being judged and being analyzed for the image data to earth station.The method includes：Inspection starts；Positioning；Unmanned plane, which takes off, finds wind turbine head；Image real time transfer simultaneously determines whether wind turbine head；Open automatic detecting pattern；Unmanned plane flies along fan blade edge, is shot to fan blade, and by leaf image data transmission to earth station；Service personnel confirms that fan blade whether there is failure, and what be do not can confirm that reaches expert end, and discriminatory analysis is carried out by expert end；Inspection terminates.The present invention without the manipulation of service personnel scene, be avoided that collision accident, save human resources, convenient for promoting the use of.
Description
Technical field
The invention belongs to wind power equipment detection technique fields, are related to a kind of failure cruising inspection system for wind-powered electricity generation fan blade
And method, especially a kind of autonomous unmanned plane inspection fan blade system and method.
Background technology
In the prior art, in the service technique field of the fan blade of wind power plant, mainly there are following three kinds of maintenance modes：
The first：Any daily maintenance is not done, is repaired afterwards；
This method of operation is prevalent in the relatively backward wind power plant of China management, due to lacking equipment and means
Without profession service personnel, such wind power plant does not carry out inspection to fan blade, and obvious fault occur in blade causes to overhaul people
Member just takes corresponding maintenance measures after paying attention to.There are apparent problems for such method, first, maintenance measures are of high cost, when a leaf
Piece goes wrong when needing to change, it is necessary to while three blades of same Fans are replaced, the blade about 300,000 of a piece of Vestas
Member or so, the time for replacing a blade is 2 to 3 days, expends a large amount of manpower, financial resources and time.Second is that the accident of wind power plant
It is containing the wind power generation phase mostly, major accident needs to stop power generation, and huge economic loss is brought to wind power plant.
Second：Planned regular visit；
Wind-powered electricity generation industry way most conventional for the maintenance of fan blade is monthly to be carried out manually to fan blade at present
Inspection.Traditional fan blade manual inspection mode, which is relied primarily on patrol officer and detoured using telescope, high-altitude, declines range estimation inspection
The modes such as (spider-man), blade repair platform inspection are looked into, only by virtue of experience judge whether abnormal conditions.This pattern is not only
The problems such as there are safeties poor, heavy workload, low efficiency, and influenced by observation angle, it cannot find blade in time comprehensively
There are the problem of, and Fan Equipment in overhaul of the equipments interval it is possible to break down.
The third：Manual operation unmanned plane carries out blade inspection；
Wind-powered electricity generation industry has the mode that manual operation unmanned plane carries out blade inspection in the advanced wind field of Technical comparing at present, but
This mode is also immature still in experimental stage, and there are still problems for the method.First, operation unmanned plane needs to drive
Member has superb driving skills and abundant driving experience, this is not available for wind field service personnel.Second is that due to maintenance
Personnel, which operate reason or extraneous factor, to be influenced, and high-revolving unmanned plane blade is likely to get to fan blade, and consequence is very
Seriously, unnecessary great number property loss is generated.Third, since the limitation of service personnel's operating technology cannot carry out wind turbine full side
Position shooting.Fourth, the method needs service personnel to be operated to unmanned plane at the moment, a large amount of human resources are still needed.Fifth,
Since the technology restriction of the method is not easy to promote the use of a large area in the national wind field of China progress.
In short, with the gradual maturation of wind-power market, Large-scale Wind Turbines occur in succession, and length of blade is also by original
30~40m increase to 60~70m.The life cycle of Wind turbines is 20 years, the growth of length of blade and the increasing of leaf weight
The operation and maintenance for adding to blade bring challenge.Traditional blade inspection means are to look in the distance sem observation and rope drop of hanging down is artificial now
Inspection.Traditional blade inspection has the disadvantage that：(1) routing inspection efficiency is low, and labor intensity is big；(2) working at height, inspection at
This height；(3) monitoring time is long, and it is big to shut down generated energy loss.Favorably manually operation unmanned plane is close for more advanced inspection means
Scape is shot, and ground staff judges whether blade breaks down by image, but this blade routine inspection mode has the disadvantage that：(1) it patrols
Examine inefficient, labor intensity is big；(2) dangerous property, easily causes shock serious consequence；(3) service personnel generally lacks
Unmanned plane this technical ability is operated less, is unfavorable for promoting the use of in each wind field.
Therefore, there is an urgent need for one kind being almost not necessarily to the manipulation of service personnel scene now, is avoided that collision accident, saving human resources
While convenient for the unmanned plane inspection technology promoted the use of in major wind field.
Invention content
In view of the deficiencies of the prior art, it is an object of the present invention to provide one kind without the manipulation of service personnel scene, is avoided that
Autonomous unmanned plane inspection fan blade system while collision accident, saving human resources convenient for being promoted the use of in major wind field
And method.
The technical solution that the present invention solves the problems, such as is：Autonomous unmanned plane inspection fan blade system, including：
Unmanned plane for carrying out automatic detecting to fan blade；
Inspection car for parked unmanned plane；
Image data for receiving and processing unmanned plane transmission, to control the earth station of unmanned plane；
The expert end for being judged and being analyzed for the image data to earth station；
The unmanned plane and earth station are to be wirelessly connected, and the earth station connects with expert end；The unmanned plane includes flying
Row control module, and connect respectively with the flight control modules figure transmission module, digital transmission module, obstacle avoidance module, positioning mould
Block, blade shoot video camera and patrol mark video camera.
Further, the locating module is GPS module.
Further, the inspection car is equipped with back bucket, and the unmanned plane is parked in the back bucket of inspection car.
Further, the earth station and expert end are to be wirelessly connected.
Further, the earth station includes the first computer, and the expert end includes second computer.
A method of the autonomous unmanned plane inspection fan blade based on the system includes the following steps：
(1) inspection starts：Patrol task one-key start operation is carried out in earth station, and by the position of wind turbine head to be inspected
Confidence breath is sent to unmanned plane；
(2) it positions：Unmanned plane positions the position of wind turbine head to be inspected by locating module；
(3) unmanned plane, which takes off, finds wind turbine head：Unmanned plane according to the positioning Automatic-searching wind turbine head in step (2),
Mark image data, which will be patrolled, after patrolling mark video camera shooting image is sent to earth station；
(4) earth station handles the mark image data of patrolling received, determines whether wind turbine head；If judgement is wind
Machine head enters step (5), if judging not being wind turbine head, return to step (2)；
(5) ground station control unmanned plane opens automatic detecting pattern；
(6) unmanned plane flies along fan blade edge, while blade shooting video camera shoots fan blade, shoots
Obtained leaf image data are sent to earth station through figure transmission module；
(7) the leaf image data that service personnel receives according to earth station confirm that fan blade whether there is failure, right
In the leaf image data that not can confirm that, it is sent to expert end through earth station, is judged and is analyzed by expert end；
(8) inspection terminates, positioning of the unmanned plane according to locating module, in the back bucket of the inspection car for the starting point that flies back automatically.
Further, in the step (1), the location information of wind turbine head to be inspected is sent to nobody through digital transmission module
Machine.
Further, in the step (3), step (6) and step (8), in flight course, the unmanned plane is by flying
Row control module controls flight attitude.
Further, in the step (3), step (6) and step (8), in flight course, unmanned plane passes through avoidance mould
Block detection front within the threshold range whether there are obstacles, there is no then continue to execute patrol task；When detecting barrier then
It sends and instructs to flight control modules immediately, unmanned plane will be back to safety zone by former route, and the safety zone refers to patrolling
In the back bucket for examining vehicle.
Further, in the step (6), the blade shooting video camera respectively carries out one to the front and back two sides of fan blade
Secondary shooting ensures that fan blade is all photographed.
Beneficial effects of the present invention are：Autonomous unmanned plane inspection fan blade system and method for the present invention, by
Start ＆ shutdown through one key function is arranged in earth station, realizes increasingly automated；In the case where being operated almost without service personnel, unmanned plane
Complete independently patrol task, and pass image information back earth station.Have the function of detection of obstacles in unmanned plane patrol task,
Unmanned plane flies back safety zone automatically when having detected barrier.The image information that earth station receives can be amplified judgement, when
It was found that when suspicious points, picture can be amplified and failure is confirmed, for the high-definition image data that not can confirm that can also teletransmission extremely
Expert end judges, is summarized by software platform and is sent in face of the blade expert at expert end, judged by expert and divided
Analysis so that the diagnosis of failure is relatively reliable, effectively prevents the influence of human factor.Image data will longer-term persistence, it is convenient
Each blade patrol worker is compared after making with history inspection data, and valuable number is provided for the follow-up mechanism of blade life-cycle
According to.System and method of the present invention saves human resources, convenient for being promoted the use of in major wind field.
Description of the drawings
Fig. 1 is the structural schematic diagram of autonomous unmanned plane inspection fan blade system of the present invention；
Fig. 2 is the structural schematic diagram of unmanned plane shown in FIG. 1；
Fig. 3 is the flow diagram of the method for the autonomous unmanned plane inspection fan blade based on system described in Fig. 1.
In figure：1- fan blades；2- earth stations；3- unmanned planes, 31- flight control modules, 32- figure transmission modules, 33- numbers pass
Module, 34- obstacle avoidance modules, 35- locating modules, 36- blades shoot video camera, and 37- patrols mark video camera；4- inspection cars；5- expert
End.
Arrows show data transmission direction in figure.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, the present invention is further illustrated.
As shown in Figure 1-Figure 3, autonomous unmanned plane inspection fan blade system, including：
Unmanned plane 3 for carrying out automatic detecting to fan blade 1；
Inspection car 4 for parked unmanned plane 3；
Image data for receiving and processing the transmission of unmanned plane 3, to control the earth station 2 of unmanned plane 3；
The expert end 5 for being judged and being analyzed for the image data to earth station 2；
The unmanned plane 3 and earth station 2 are to be wirelessly connected, and the earth station 2 and expert end 5 connect；The unmanned plane 3 wraps
Include flight control modules 31, and connect respectively with the flight control modules 31 figure transmission module 32, digital transmission module 33, avoidance
Module 34, locating module 35, blade shoot video camera 36 and patrol mark video camera 37.
The locating module 35 is GPS module.
The inspection car 4 is equipped with back bucket, and the unmanned plane 3 is parked in the back bucket of inspection car 4.
The earth station 2 and expert end 5 are to be wirelessly connected.
The earth station 2 includes the first computer, and the expert end 5 includes second computer.
A method of the autonomous unmanned plane inspection fan blade based on the system includes the following steps：
(1) inspection starts：Patrol task one-key start operation is carried out in earth station 2, and by wind turbine head to be inspected
Location information is sent to unmanned plane 3；
(2) it positions：Unmanned plane 3 positions the position of wind turbine head to be inspected by locating module 35；
(3) unmanned plane 3, which takes off, finds wind turbine head：Unmanned plane 3 is according to the positioning Automatic-searching wind turbine machine in step (2)
Head will patrol mark image data and be sent to earth station 2 after patrolling mark video camera 37 and shooting image；
(4) earth station 2 handles the mark image data of patrolling received, determines whether wind turbine head；If judgement is
Wind turbine head enters step (5), if judging not being wind turbine head, return to step (2)；
(5) earth station 2 controls unmanned plane 3 and opens automatic detecting pattern；
(6) unmanned plane 3 flies along 1 edge of fan blade, while blade shooting video camera 36 claps fan blade 1
It takes the photograph, the leaf image data shot are sent to earth station 2 through figure transmission module 32；
(7) the leaf image data that service personnel receives according to earth station 2 confirm that fan blade 1 whether there is failure,
For the leaf image data that not can confirm that, it is sent to expert end 5 through earth station 2, is judged and is analyzed by expert end 5；
(8) inspection terminates, positioning of the unmanned plane 3 according to locating module 35, the back bucket of the inspection car 4 for the starting point that flies back automatically
In.
In the step (1), the location information of wind turbine head to be inspected is sent to unmanned plane 3 through digital transmission module 33.
In the step (3), step (6) and step (8), in flight course, the unmanned plane 3 controls mould by flight
Block 31 controls flight attitude.
In the step (3), step (6) and step (8), in flight course, unmanned plane 3 is detected by obstacle avoidance module 34
Front within the threshold range whether there are obstacles, there is no then continue to execute patrol task；When detecting barrier then immediately to
Flight control modules 31 send instruction, and unmanned plane 3 will be back to safety zone by former route, and the safety zone refers to inspection car
Back bucket in.
In the step (6), the blade shooting video camera 36 respectively once claps the front and back two sides of fan blade 1
It takes the photograph.
Present invention is not limited to the embodiments described above, without departing substantially from substantive content of the present invention, art technology
Any deformation, improvement, the replacement that personnel are contemplated that each fall within protection scope of the present invention.
Claims (2)
1. a kind of method of autonomous unmanned plane inspection fan blade, which is characterized in that include the following steps：
(1) inspection starts：Patrol task one-key start operation is carried out in earth station, and the position of wind turbine head to be inspected is believed
Breath is sent to unmanned plane；
(2) it positions：Unmanned plane positions the position of wind turbine head to be inspected by locating module；
(3) unmanned plane, which takes off, finds wind turbine head：Unmanned plane is according to the positioning Automatic-searching wind turbine head in step (2), through patrolling
Mark image data, which will be patrolled, after mark video camera shooting image is sent to earth station；
(4) earth station handles the mark image data of patrolling received, determines whether wind turbine head；If judgement is wind turbine machine
Head enters step (5), if judging not being wind turbine head, return to step (2)；
(5) ground station control unmanned plane opens automatic detecting pattern；
(6) unmanned plane flies along fan blade edge, while blade shooting video camera shoots fan blade, and shooting obtains
Leaf image data be sent to earth station through figure transmission module；
(7) the leaf image data that service personnel receives according to earth station confirm that fan blade whether there is failure, for not
The leaf image data that can confirm that, expert end is sent to through earth station, is judged and is analyzed by expert end；
(8) inspection terminates, positioning of the unmanned plane according to locating module, in the back bucket of the inspection car for the starting point that flies back automatically；
The location information of wind turbine head to be inspected is sent to unmanned plane through digital transmission module；
In the step (3), step (6) and step (8), in flight course, the unmanned plane passes through flight control modules control
Flight attitude processed；
In flight course, unmanned plane detects front within the threshold range whether there are obstacles by obstacle avoidance module, and there is no then
Continue to execute patrol task；It then sends and instructs to flight control modules immediately when detecting barrier, unmanned plane will be by former route
It is back to safety zone, the safety zone refers in the back bucket of inspection car.
2. the method for autonomous unmanned plane inspection fan blade according to claim 1, which is characterized in that the step (6)
In, the blade shooting video camera respectively once shoots the front and back two sides of fan blade.
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| CN114625157A (en) * | 2020-12-10 | 2022-06-14 | 中测科技(广州)有限公司 | Automatic modeling method and system for combining aerial oblique photography with acquired data |
| CN112581648A (en) * | 2020-12-21 | 2021-03-30 | 华能安阳能源有限责任公司 | Dynamic inspection system and method for wind driven generator blade |
| 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 |
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