CN107248153A - A kind of unmanned plane and system for inspection wind-power electricity generation - Google Patents
A kind of unmanned plane and system for inspection wind-power electricity generation Download PDFInfo
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- 238000007689 inspection Methods 0.000 title abstract description 18
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
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- G07C1/20—Checking timed patrols, e.g. of watchman
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The purpose of the application is to provide a kind of unmanned plane and system for inspection wind-power electricity generation, and the unmanned plane of the system includes：Data transmission device, for obtaining flight path of the unmanned plane to target wind power generating set from service equipment；The flight control assemblies being connected with data transmission device, for controlling unmanned plane to be flown according to flight path around target wind power generating set, so that camera apparatus is shot to target wind power generating set；The camera apparatus being connected with flight control assemblies, the external image for obtaining target wind power generating set in flight course；The image transmission being connected with camera apparatus, for the external image of target wind power generating set to be sent into service equipment, not only realize the purpose for carrying out real-time inspection to target wind power generating set by unmanned plane, the human cost of artificial progress inspection is also reduced, and then is effectively improved the efficiency safeguarded to wind-power electricity generation.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a system for inspecting wind power generation.
Background
In the prior art, wind energy is a clean renewable energy source, and is huge on the earth, so that the wind energy is widely popularized and applied as one of key directions for sustainable development of energy required by human. With the doubling and capacity expansion of installed capacity of wind power, the maintenance work of wind power generation equipment becomes the focus of general attention. The maintenance work of the current wind power generation equipment is huge, manual participation is mainly caused, the efficiency is low, the problem of the operation efficiency of the wind power generation equipment is influenced, and the social and economic benefits of wind power generation are reduced. Therefore, how to efficiently and accurately inspect the health status of the wind power generation equipment and reduce the workload of inspectors becomes a main subject of research in the industry.
Disclosure of Invention
The utility model aims at providing an unmanned aerial vehicle and system for patrolling and examining wind power generation to solve the current problem that the fault discovery that leads to among the patrol and examine process to wind power generation equipment is untimely and wind power generation maintenance efficiency is low.
According to an aspect of the application, an unmanned aerial vehicle for patrolling wind power generation is provided, wherein, this unmanned aerial vehicle includes:
the data transmission device is used for acquiring a flight path of the unmanned aerial vehicle to the target wind generating set from the service equipment;
the flight control device is connected with the data transmission device and used for controlling the unmanned aerial vehicle to fly around the target wind generating set according to the flight path so that the camera device can shoot the target wind generating set;
the camera device is connected with the flight control device and used for acquiring an external image of the target wind generating set in the flight process;
and the image transmission device is connected with the camera device and is used for sending the external image of the target wind generating set to the service equipment.
Further, in the above unmanned aerial vehicle, the flight path includes a three-dimensional coordinate series group.
Further, in the unmanned aerial vehicle, the camera device acquires the external image of the target wind generating set in the flight process through a stability augmentation cloud platform technology.
Further, in the above-mentioned unmanned aerial vehicle, the unmanned aerial vehicle still includes:
and the power device is connected with the flight control device and used for acquiring the power output information of the unmanned aerial vehicle.
Further, in the above-mentioned unmanned aerial vehicle, the unmanned aerial vehicle still includes:
a management device connected with the flight control device and used for monitoring the flight parameter information of the unmanned aerial vehicle, wherein,
the flight control device adjusts the flight state of the unmanned aerial vehicle based on the flight parameter information.
Further, in the above-mentioned unmanned aerial vehicle, the data transmission device is further configured to:
obtaining an updated flight path from the service device; and/or the presence of a gas in the gas,
and sending the flight state of the unmanned aerial vehicle to the service equipment.
According to another aspect of the present application, there is also provided a service apparatus for inspecting wind power generation, comprising:
the receiving and sending device is used for presetting a flight path of the unmanned aerial vehicle to the target wind generating set, sending the flight path to the unmanned aerial vehicle, and receiving an external image of the target wind generating set, which is acquired when the unmanned aerial vehicle flies around the target wind generating set according to the flight path;
the image processing device is used for carrying out image processing on the external image of the target wind generating set to obtain an integral three-dimensional image of the target wind generating set;
and the image analysis device is used for analyzing the whole three-dimensional image of the target wind generating set to obtain the health state information of the target wind generating set.
Further, in the service device, the flight path includes a three-dimensional coordinate series group.
Further, in the service device, the transceiver is further configured to:
updating the flight path of the target wind generating set by the unmanned aerial vehicle, and sending the updated flight path to the unmanned aerial vehicle; and/or the presence of a gas in the gas,
receiving a flight status of the drone from the drone.
Further, in the service device, the image processing apparatus is configured to:
and carrying out image splicing processing on the external image of the target wind generating set to obtain an integral three-dimensional image of the target wind generating set.
Further, in the service device, the image analysis apparatus is configured to:
acquiring an original three-dimensional image of the target wind generating set;
and comparing and analyzing the original three-dimensional image of the target wind generating set with the integral three-dimensional image to obtain the health state information of the target wind generating set.
According to another aspect of the application, there is also provided a system for polling wind power generation, characterized in that it comprises a drone and a service device, wherein,
the unmanned aerial vehicle includes:
the data transmission device is used for acquiring a flight path of the unmanned aerial vehicle to the target wind generating set from the service equipment;
the flight control device is connected with the data transmission device and used for controlling the unmanned aerial vehicle to fly around the target wind generating set according to the flight path so that the camera device can shoot the target wind generating set;
the camera device is connected with the flight control device and used for acquiring an external image of the target wind generating set in the flight process;
the image transmission device is connected with the camera device and is used for sending the external image of the target wind generating set to the service equipment;
the service apparatus includes:
the receiving and sending device is used for presetting a flight path of the unmanned aerial vehicle to the target wind generating set, sending the flight path to the unmanned aerial vehicle, and receiving an external image of the target wind generating set, which is acquired when the unmanned aerial vehicle flies around the target wind generating set according to the flight path;
the image processing device is used for carrying out image processing on the external image of the target wind generating set to obtain an integral three-dimensional image of the target wind generating set;
and the image analysis device is used for analyzing the whole three-dimensional image of the target wind generating set to obtain the health state information of the target wind generating set.
Compared with the prior art, the unmanned aerial vehicle for patrolling and examining wind power generation of an aspect of this application includes: the data transmission device is used for acquiring a flight path of the unmanned aerial vehicle to the target wind generating set from the service equipment; the flight control device is connected with the data transmission device and used for controlling the unmanned aerial vehicle to fly around the target wind generating set according to the flight path so that the camera device can shoot the target wind generating set; the camera device is connected with the flight control device and used for acquiring an external image of the target wind generating set in the flight process; the image transmission device is connected with the camera device and used for sending the external image of the target wind generating set to the service equipment, and the unmanned aerial vehicle winds the target wind generating set according to the flight path of the target wind generating set to enable the unmanned aerial vehicle to comprehensively shoot the target wind generating set and send the shot external image to the service equipment, so that the service equipment processes and analyzes the external image of the target wind generating set to obtain the health state information of the target wind generating set, the purpose of real-time inspection of the target wind generating set through the unmanned aerial vehicle is achieved, the human cost for manual inspection is reduced, and the efficiency of maintaining the wind power generation is effectively improved.
Further, another aspect of the present application provides a service apparatus for polling wind power generation, comprising: the receiving and sending device is used for presetting a flight path of the unmanned aerial vehicle to a target wind generating set and sending the flight path to the unmanned aerial vehicle, so that the unmanned aerial vehicle can comprehensively shoot the target wind generating set through a camera device of the unmanned aerial vehicle when flying around the target wind generating set according to the flight path and sends a shot external image to the service equipment, and the receiving and sending device of the service equipment receives the external image of the target wind generating set, which is acquired when the unmanned aerial vehicle flies around the target wind generating set according to the flight path; then, an image processing device is used for carrying out image processing on the external image of the target wind generating set to obtain an integral three-dimensional image of the target wind generating set; the image analysis device is used for analyzing the whole three-dimensional image of the target wind generating set, identifying the defect characteristics and the damaged part of the target wind generating set and further obtaining the health state information of the target wind generating set so as to realize image processing and analysis of the external image of the target wind generating set sent by the unmanned aerial vehicle, achieve judgment and analysis of the health state of the target wind generating set, and avoid high cost and low efficiency caused by artificial processing.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 illustrates a schematic diagram of a drone for inspection of wind power generation according to one aspect of the present application;
FIG. 2 illustrates an actual schematic view of a multi-rotor drone for inspection of wind power generation according to one aspect of the present application;
FIG. 3 illustrates a schematic diagram of a service facility for use in routing inspection of equipment such as wind power generation, according to an aspect of the subject application;
FIG. 4 illustrates a system for routing inspection of wind power generation in accordance with an aspect of the subject application.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present application is described in further detail below with reference to the attached figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
Fig. 1 shows an unmanned aerial vehicle for patrolling wind power generation of an aspect of the present application, is applied to the in-process of patrolling and examining equipment such as wind power generation, wherein, this unmanned aerial vehicle includes:
the data transmission device 11 is used for acquiring a flight path of the unmanned aerial vehicle to the target wind generating set from the service equipment; for example, the data transmission device 11 acquires, in a wireless communication manner, a flight path of the unmanned aerial vehicle to the target wind turbine generator set (that is, a flight path of the unmanned aerial vehicle around the target wind turbine generator set) uploaded by the service equipment, and transmits, in a wired transmission manner, the flight path uploaded by the service equipment to the flight control device 12 connected to the data transmission device 11; wherein,
the flight control device 12 is configured to control the unmanned aerial vehicle to fly around the target wind turbine generator set according to the flight path, so that the camera device 13 shoots the target wind turbine generator set;
the camera device 13 is connected with the flight control device 12 and is used for acquiring an external image of the target wind generating set in the flight process;
and an image transmission device 14 connected to the camera device 13, wherein the image transmission device 14 is interconnected with the camera device 13 by means of an HDMI (high definition Multimedia Interface) for transmitting an external image of the target wind turbine generator set to the service device in a wireless communication manner.
Because unmanned aerial vehicle winds according to the flight path to target wind generating set the flight of target wind generating set for unmanned aerial vehicle can be comprehensive right target wind generating set shoots, and the outside image that will shoot sends for service equipment, so that service equipment handles and analyzes this target wind generating set's outside image, and then reachs this target wind generating set's health status information, has not only realized through unmanned aerial vehicle to target wind generating set carry out the purpose of patrolling and examining in real time, has still reduced the human cost of patrolling and examining artificially, and then has improved the efficiency of maintaining wind power generation effectively.
The target wind generating set comprises a wind wheel and a generator, wherein the wind wheel comprises blades, a hub, a reinforcing member and the like. The blade is a key external part of the wind generating set, and the pneumatic efficiency of the blade determines the capability of the wind generating set for utilizing wind energy, so that the performance of the blade is required to have the characteristics of corrosion resistance, ultraviolet irradiation, lightning protection and the like as well as the optimal mechanical performance and fatigue strength; the blade inevitably generates friction and impact with sand, dust, particles and the like in the air when rotating at high speed, so that the front edge of the blade is ground, and the front edge is bonded and cracked; and as the operating life of the target wind generating set is prolonged, the surface gel coat of the blade is abraded and falls off to form sand holes and cracks, the generated sand holes can cause the resistance of the blade to increase to influence the generating capacity, and once the blade becomes the through cavity sand holes, accumulated water can cause the lightning protection index to be reduced.
It should be noted that the drones in this application may be, but are not limited to, single-wing drones, double-wing drone with shaped wings, double-wing drone with asymmetric wings, and multi-rotor drone. Inspection wind power generation is described below using a multi-rotor unmanned aerial vehicle as an example, wherein the multi-rotor unmanned aerial vehicle is shown in fig. 2.
In order to guarantee that many rotor unmanned aerial vehicle are to target wind generating set's accurate location and shoot in real time, data transmission device 11 obtains this many rotor unmanned aerial vehicle of presetting from service equipment and patrols and examines the flight path when target wind generating set can include: the three-dimensional coordinate sequence group is used for ensuring the accurate positioning of the target wind generating set; when the multi-rotor unmanned aerial vehicle flies around the target wind generating set according to the three-dimensional coordinate sequence group included in the flight path in the flying process, the camera device 13 takes pictures of the target wind generating set comprehensively in a close range until the three-dimensional coordinate sequence group in the whole flight path is completed, and the external images of the target wind generating set are obtained comprehensively in real time through the camera device 11.
In order to guarantee that the outside of target wind generating set shoots to acquire the outside image of the target wind generating set of high definition, the camera device 13 of the multi-rotor unmanned aerial vehicle adopts a high definition zoom camera to shoot the target wind generating set. Further, in order to reduce the influence of factors such as attitude change, vibration and sudden turning of the multi-rotor unmanned aerial vehicle in the flying process on the shot external image, the camera device 13 acquires the external image of the target wind generating set in the flying process through a stability augmentation cloud platform technology. For example, the camera device 13 of the multi-rotor unmanned aerial vehicle is preferably a high-definition zoom pan-tilt camera, so as to inspect a key sensing component of the target wind generating set for the multi-rotor unmanned aerial vehicle, collect an external image of the target wind generating set, and meet a high-definition requirement on the external image. Preferably, the camera device 13 of the multi-rotor unmanned aerial vehicle is a high-definition zoom holder camera, and through the technical characteristic that the holder stability is increased, the influence of factors such as attitude change, vibration and the like in the flying process of the multi-rotor unmanned aerial vehicle on the acquisition of external images of a target wind generating set can be reduced, and the acquisition of the external images which are high-definition, smooth and stable can be effectively guaranteed.
Following the above-mentioned embodiment of this application, an aspect of this application for patrolling and examining wind power generation unmanned aerial vehicle still includes:
and the power device 15 is connected with the flight control device 12 and used for acquiring the power output information of the unmanned aerial vehicle. The flight control device 12 determines the power output information of the power device 15 in the form of a PWM signal (Pulse Width Modulation signal), so that the power device 15 obtains and outputs the power output information (such as the power output mode and the power output magnitude) of the unmanned aerial vehicle, thereby implementing the power output function of the unmanned aerial vehicle.
Following the above-mentioned embodiment of this application, an aspect of this application for patrolling and examining wind power generation unmanned aerial vehicle still includes:
and a management device 16 connected to the flight control device 12, configured to monitor flight parameter information of the drone, where the flight parameter information may include, but is not limited to, power monitoring parameters including a multi-rotor drone, a flight altitude, a fault protection indication, a current flight status, and the like. In order to ensure mutual data transmission between the flight control device 12 and the management device 16, the management device 16 is interconnected with the flight control device 12 in a wired manner, and the flight control device 12 adjusts the flight state of the unmanned aerial vehicle based on the flight parameter information of the unmanned aerial vehicle monitored by the management device 16; for example, the flight control device 12 may adjust the measures for avoiding risks such as whether the unmanned aerial vehicle takes off, returns, lands, and the like according to the flight parameter information of the unmanned aerial vehicle, so as to ensure that the unmanned aerial vehicle can fly normally and safely.
Following the above-mentioned embodiments of the present application, the data transmission device 11 is further configured to:
obtaining an updated flight path from the service device; and/or the presence of a gas in the gas,
and sending the flight state of the unmanned aerial vehicle to the service equipment.
For example, on one hand, when the service device needs to update the flight path of the unmanned aerial vehicle, the service device sends the updated flight path to the unmanned aerial vehicle in a wireless manner, and the data transmission device 11 in the unmanned aerial vehicle acquires the updated flight path sent by the service device in a wireless manner, so that the unmanned aerial vehicle is prompted to fly around the target wind generating set based on the updated flight path, and further acquires an external image of the target wind generating set; on the other hand, in the process that the unmanned aerial vehicle flies around the target wind generating set according to the flight path, the data transmission device 11 acquires the flight state of the unmanned aerial vehicle (whether the unmanned aerial vehicle takes off, whether the unmanned aerial vehicle returns, whether the unmanned aerial vehicle lands, the flight angle, the flight height and the like), and sends the flight state of the unmanned aerial vehicle to the service equipment for monitoring the unmanned aerial vehicle, so that the service equipment can learn the flight state of the unmanned aerial vehicle, and flight control personnel can perform corresponding danger avoiding operation on the unmanned aerial vehicle according to the sent flight state of the unmanned aerial vehicle; on the other hand, when the service device needs to update the flight path of the drone, the data transmission device 11 wirelessly obtains the updated flight path of the drone from the service device, the data transmission device 11 sends the updated flight path to the flight control device 12 in a wired manner, so that the flight control device 12 controls the unmanned aerial vehicle to fly around the target generator set according to the updated flight path based on the updated flight path, meanwhile, the data transmission device 11 transmits the flight state (whether to take off, whether to return, whether to land, the flight angle, the flight height and the like) of the unmanned aerial vehicle in the flight process to the service equipment, so that flight control personnel at the service equipment can send corresponding flight instruction operation to the unmanned aerial vehicle based on the flight state of the unmanned aerial vehicle acquired in real time.
In the process of polling wind power generation equipment and other equipment, when an unmanned aerial vehicle flies around a wind power generation unit according to a flight path of a target wind power generation unit, after an external image of the target wind power generation unit is acquired through a high-definition zooming pan-tilt camera carried in the unmanned aerial vehicle, the external image of the target wind power generation unit acquired in real time is issued to service equipment in real time through a wireless data transmission device 11, so that the service equipment records and stores the acquired external image of the target wind power generation unit, namely all the external images of the target wind power generation unit acquired by the unmanned aerial vehicle are used as data basis for polling and detecting the wind power generation equipment and other equipment. Wherein, the schematic structural diagram of the service equipment applied to the process of polling wind power generation equipment and other equipment is shown in fig. 3, and the service equipment comprises: a transceiver device 21, an image processing device 22 and an image analysis device 23, wherein,
the receiving and sending device 21 is configured to preset a flight path of the unmanned aerial vehicle to the target wind turbine generator system, send the flight path to the unmanned aerial vehicle, and receive an external image of the target wind turbine generator system, which is acquired when the unmanned aerial vehicle flies around the target wind turbine generator system according to the flight path. In order to guarantee that the unmanned aerial vehicle accurately positions the target wind generating set, the unmanned aerial vehicle preset by the transceiver 21 patrols the flight path corresponding to the routing of the target wind generating set, and the flight path may include: the three-dimensional coordinate sequence group guarantees that the unmanned aerial vehicle flies around the target wind generating set through the three-dimensional coordinate sequence group, and then the unmanned aerial vehicle can complete the flying around the target wind generating set according to the three-dimensional coordinate sequence group, so that the external image of the target wind generating set can be obtained comprehensively and accurately in real time.
The image processing device 22 is configured to perform image processing on an external image of the target wind turbine generator system to obtain an overall three-dimensional image of the target wind turbine generator system; for example, all external images of the target wind turbine generator unit acquired from the unmanned aerial vehicle end are used as data bases for inspection detection of equipment such as wind power generation by a service equipment end, and the image processing device 22 (for example, image processing analysis software is installed) performs image processing on the acquired external images of the target wind turbine generator unit to obtain an overall three-dimensional image of the target wind turbine generator unit, so as to ensure that an image requirement for analyzing whether the target wind turbine generator unit is damaged and/or corroded is obtained; in order to obtain a clearer and complete overall three-dimensional image of the target wind generating set, the image processing device 22 is used for: and carrying out image splicing, image retrieval and other processing on the external image of the target wind generating set by an image splicing technology to obtain a three-dimensional integral three-dimensional image of the spliced target wind generating set, so that the integral three-dimensional image of the target wind generating set is presented at a service equipment end in a three-dimensional visualization mode.
The image analysis device 23 is configured to analyze the overall three-dimensional image of the target wind turbine generator system, and can identify the defect characteristics and the damaged portion of the target wind turbine generator system, so as to obtain the health state information of the target wind turbine generator system, so as to implement image processing and analysis on the external image of the target wind turbine generator system sent by the unmanned aerial vehicle, achieve judgment and analysis on the health state of the target wind turbine generator system, and avoid high cost and low efficiency caused by manual processing.
In order to quickly find, search and analyze whether the target wind turbine generator set is damaged and/or corroded, the image analysis device 23 is used for:
acquiring an original three-dimensional image of the target wind generating set;
and comparing and analyzing the original three-dimensional image of the target wind generating set with the integral three-dimensional image to obtain the health state information of the target wind generating set.
For example, the image analysis device 23 (installed with image stitching and fusing software and the like) in the service equipment acquires an original three-dimensional image of the target wind turbine generator system, and in order to analyze the health state of the target wind turbine generator system as soon as possible, the image analysis device 23 compares the original three-dimensional image of the target wind turbine generator system with an overall three-dimensional image of the target wind turbine generator system in the current actual environment captured from an unmanned aerial vehicle, and quickly retrieves the defect feature points of the overall three-dimensional image, so that the health state information of the target wind turbine generator system can be quickly retrieved and located, for example, if the blade located in the target wind turbine generator system is found to be seriously lost, the corresponding health state information is that the blade is seriously lost, and for example, the target wind turbine generator system remains intact and does not have any damage and/or corrosion phenomena, the corresponding health state information is good for the health of the target wind generating set, maintenance is not needed, whether operation and maintenance personnel should actively maintain the target wind generating set or not is determined at the service equipment side through the health state information of the target wind generating set, passive maintenance when the target wind generating set is in fault or damaged is reduced, the reliability of operation of the target wind generating set is effectively improved, and meanwhile manual inspection cost is saved.
Following the above-mentioned embodiments of the present application, the transceiver 21 is further configured to:
updating the flight path of the target wind generating set by the unmanned aerial vehicle, and sending the updated flight path to the unmanned aerial vehicle; and/or the presence of a gas in the gas,
receiving a flight status of the drone from the drone.
For example, on one hand, when the flight path of the unmanned aerial vehicle needs to be updated, the transceiver 21 updates the flight path of the target wind turbine generator set by the unmanned aerial vehicle to obtain an updated flight path, and wirelessly transmits the updated flight path to the unmanned aerial vehicle, so that the unmanned aerial vehicle is prompted to fly around the target wind turbine generator set based on the updated flight path, and further, an omnidirectional external image of the target wind turbine generator set can be acquired; on the other hand, when the unmanned aerial vehicle flies around the target wind generating set according to the flight path, the unmanned aerial vehicle simultaneously monitors the flight state (whether the unmanned aerial vehicle takes off or takes back or not, whether the unmanned aerial vehicle lands or not, the flight angle, the flight height and the like) of the unmanned aerial vehicle in real time, and sends the flight state of the unmanned aerial vehicle to the service equipment, so that the transceiver 21 of the service equipment can learn the flight state of the unmanned aerial vehicle in real time, and a flight control worker can perform corresponding danger avoiding operation on the unmanned aerial vehicle according to the sent flight state of the unmanned aerial vehicle; on the other hand, when the flight path of the unmanned aerial vehicle needs to be updated, the unmanned aerial vehicle acquires the updated flight path of the unmanned aerial vehicle from the transceiver of the service equipment in a wireless manner, and sends the updated flight path to the flight control device of the unmanned aerial vehicle in a wired manner, so that the flight control device controls the unmanned aerial vehicle to fly around the target generator set according to the updated flight path based on the updated flight path, meanwhile, the unmanned aerial vehicle sends the flight state (whether to take off, whether to return to the air, whether to land, the flight angle, the flight height and the like) of the unmanned aerial vehicle in the flight process to the service equipment in a wireless mode, so that the transceiver 21 at the service equipment end prompts flight control personnel (through unmanned aerial vehicle measurement and control software and the like) to make corresponding flight instruction operation and the like for the unmanned aerial vehicle according to the received flight state of the unmanned aerial vehicle.
Another aspect of the present application also provides a system for inspecting wind power generation, as shown in fig. 4. The system adopts unmanned aerial vehicle technology, image analysis technology, wireless technology, software processing technology and the like, is applied to inspection and operation maintenance of equipment such as wind power generation equipment and the like, and comprises an unmanned aerial vehicle and service equipment, wherein a high-definition zooming pan-tilt camera and the like are installed in the unmanned aerial vehicle, and unmanned aerial vehicle measurement and control software, image analysis software and the like for monitoring the flight state of the unmanned aerial vehicle are installed in the service equipment, so that accurate positioning monitoring of the unmanned aerial vehicle and quick searching and finding of defects of a target wind generating set and health state problems and the like are realized; wherein, the unmanned aerial vehicle in this system includes:
the data transmission device is used for acquiring a flight path of the unmanned aerial vehicle to the target wind generating set from the service equipment;
the flight control device is connected with the data transmission device and used for controlling the unmanned aerial vehicle to fly around the target wind generating set according to the flight path so that the camera device can shoot the target wind generating set;
the camera device is connected with the flight control device and used for acquiring an external image of the target wind generating set in the flight process; the image transmission device is connected with the camera device and is used for sending the external image of the target wind generating set to the service equipment;
the service apparatus includes:
the receiving and sending device is used for presetting a flight path of the unmanned aerial vehicle to the target wind generating set, sending the flight path to the unmanned aerial vehicle, and receiving an external image of the target wind generating set, which is acquired when the unmanned aerial vehicle flies around the target wind generating set according to the flight path;
the image processing device is used for carrying out image processing on the external image of the target wind generating set to obtain an integral three-dimensional image of the target wind generating set;
and the image analysis device is used for analyzing the whole three-dimensional image of the target wind generating set to obtain the health state information of the target wind generating set.
Through the system for patrolling and examining wind power generation based on the unmanned aerial vehicle, the defects of the blades in the target wind power generation set can be observed in a short distance through a high-definition zooming pan-tilt camera (namely a camera device) carried by the unmanned aerial vehicle, the defects are shot in real time and comprehensively (without dead angles of 360 degrees) through the high-definition zooming pan-tilt camera to obtain external images, the external images are sent to background service equipment (such as ground maintenance equipment or ground service equipment) to be processed and analyzed, health state information (such as loss and/or corrosion of the blades and the like) of the target wind power generation set is judged and found early, flight control personnel can make corresponding processing measures based on the health state information, and normal and efficient operation of the equipment such as wind power generation is guaranteed efficiently.
In the system for routing inspection wind power generation based on the unmanned aerial vehicle, the unmanned aerial vehicle flies around the target wind power generator set according to the flight path, so as to obtain an external image of the target wind generating set, process and analyze the external image at the service equipment end to obtain the health state information of the target wind generating set, by the unmanned aerial vehicle and the flight path corresponding to the flight of the unmanned aerial vehicle, the frequency and the accuracy of routing inspection of equipment such as wind power generation and the like can be improved, health state information processed and analyzed by the service equipment end can help operation and maintenance personnel to find problems in advance, passive maintenance operation is changed into operation for actively improving the equipment such as wind power generation and the like, and then the hidden trouble of the trouble is found in time, take precautions against in the bud, improve equipment such as wind power generation reliability of operation effectively, not only save the cost of equipment such as wind power generation cost but also save the cost of the maintenance of patrolling and examining of people.
To sum up, the unmanned aerial vehicle for patrolling wind power generation of an aspect includes: the data transmission device is used for acquiring a flight path of the unmanned aerial vehicle to the target wind generating set from the service equipment; the flight control device is connected with the data transmission device and used for controlling the unmanned aerial vehicle to fly around the target wind generating set according to the flight path so that the camera device can shoot the target wind generating set; the camera device is connected with the flight control device and used for acquiring an external image of the target wind generating set in the flight process; the image transmission device is connected with the camera device and used for sending the external image of the target wind generating set to the service equipment, and the unmanned aerial vehicle winds the target wind generating set according to the flight path of the target wind generating set to enable the unmanned aerial vehicle to comprehensively shoot the target wind generating set and send the shot external image to the service equipment, so that the service equipment processes and analyzes the external image of the target wind generating set to obtain the health state information of the target wind generating set, the purpose of real-time inspection of the target wind generating set through the unmanned aerial vehicle is achieved, the human cost for manual inspection is reduced, and the efficiency of maintaining the wind power generation is effectively improved.
Further, another aspect of the present application provides a service apparatus for polling wind power generation, comprising: the receiving and sending device is used for presetting a flight path of the unmanned aerial vehicle to a target wind generating set and sending the flight path to the unmanned aerial vehicle, so that the unmanned aerial vehicle can comprehensively shoot the target wind generating set through a camera device of the unmanned aerial vehicle when flying around the target wind generating set according to the flight path and sends a shot external image to the service equipment, and the receiving and sending device of the service equipment receives the external image of the target wind generating set, which is acquired when the unmanned aerial vehicle flies around the target wind generating set according to the flight path; then, an image processing device is used for carrying out image processing on the external image of the target wind generating set to obtain an integral three-dimensional image of the target wind generating set; the image analysis device is used for analyzing the whole three-dimensional image of the target wind generating set, identifying the defect characteristics and the damaged part of the target wind generating set and further obtaining the health state information of the target wind generating set so as to realize image processing and analysis of the external image of the target wind generating set sent by the unmanned aerial vehicle, achieve judgment and analysis of the health state of the target wind generating set, and avoid high cost and low efficiency caused by artificial processing.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Program instructions which invoke the methods of the present application may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (12)
1. An unmanned aerial vehicle for patrolling wind power generation, comprising:
the data transmission device is used for acquiring a flight path of the unmanned aerial vehicle to the target wind generating set from the service equipment;
the flight control device is connected with the data transmission device and used for controlling the unmanned aerial vehicle to fly around the target wind generating set according to the flight path so that the camera device can shoot the target wind generating set;
the camera device is connected with the flight control device and used for acquiring an external image of the target wind generating set in the flight process;
and the image transmission device is connected with the camera device and is used for sending the external image of the target wind generating set to the service equipment.
2. The drone of claim 1, wherein the flight path comprises a set of three-dimensional series of coordinates.
3. The unmanned aerial vehicle of claim 1, wherein the camera device obtains an external image of the target wind turbine generator set during flight through a stability augmentation pan-tilt technique.
4. The drone of claim 1, further comprising:
and the power device is connected with the flight control device and used for acquiring the power output information of the unmanned aerial vehicle.
5. The drone of claim 1, further comprising:
a management device connected with the flight control device and used for monitoring the flight parameter information of the unmanned aerial vehicle, wherein,
the flight control device adjusts the flight state of the unmanned aerial vehicle based on the flight parameter information.
6. The drone of claim 1, wherein the data transmission device is further to:
obtaining an updated flight path from the service device; and/or the presence of a gas in the gas,
and sending the flight state of the unmanned aerial vehicle to the service equipment.
7. A service equipment for patrolling wind power generation, characterized by comprising:
the receiving and sending device is used for presetting a flight path of the unmanned aerial vehicle to the target wind generating set, sending the flight path to the unmanned aerial vehicle, and receiving an external image of the target wind generating set, which is acquired when the unmanned aerial vehicle flies around the target wind generating set according to the flight path;
the image processing device is used for carrying out image processing on the external image of the target wind generating set to obtain an integral three-dimensional image of the target wind generating set;
and the image analysis device is used for analyzing the whole three-dimensional image of the target wind generating set to obtain the health state information of the target wind generating set.
8. The service device of claim 7, wherein the flight path comprises a three-dimensional series of coordinates.
9. The serving apparatus according to claim 7, wherein the transceiving means is further configured to:
updating the flight path of the target wind generating set by the unmanned aerial vehicle, and sending the updated flight path to the unmanned aerial vehicle; and/or the presence of a gas in the gas,
receiving a flight status of the drone from the drone.
10. The service apparatus according to claim 7, wherein the image processing device is configured to:
and carrying out image splicing processing on the external image of the target wind generating set to obtain an integral three-dimensional image of the target wind generating set.
11. The service apparatus according to claim 7, wherein the image analysis means is configured to:
acquiring an original three-dimensional image of the target wind generating set;
and comparing and analyzing the original three-dimensional image of the target wind generating set with the integral three-dimensional image to obtain the health state information of the target wind generating set.
12. A system for polling wind power generation, comprising a drone and a service device, wherein,
the unmanned aerial vehicle includes:
the data transmission device is used for acquiring a flight path of the unmanned aerial vehicle to the target wind generating set from the service equipment;
the flight control device is connected with the data transmission device and used for controlling the unmanned aerial vehicle to fly around the target wind generating set according to the flight path so that the camera device can shoot the target wind generating set;
the camera device is connected with the flight control device and used for acquiring an external image of the target wind generating set in the flight process;
the image transmission device is connected with the camera device and is used for sending the external image of the target wind generating set to the service equipment;
the service apparatus includes:
the receiving and sending device is used for presetting a flight path of the unmanned aerial vehicle to the target wind generating set, sending the flight path to the unmanned aerial vehicle, and receiving an external image of the target wind generating set, which is acquired when the unmanned aerial vehicle flies around the target wind generating set according to the flight path;
the image processing device is used for carrying out image processing on the external image of the target wind generating set to obtain an integral three-dimensional image of the target wind generating set;
and the image analysis device is used for analyzing the whole three-dimensional image of the target wind generating set to obtain the health state information of the target wind generating set.
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