CN108252872A - 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 - Google Patents
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 Download PDFInfo
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- CN108252872A CN108252872A CN201611247337.8A CN201611247337A CN108252872A CN 108252872 A CN108252872 A CN 108252872A CN 201611247337 A CN201611247337 A CN 201611247337A CN 108252872 A CN108252872 A CN 108252872A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/80—Diagnostics
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- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
The present invention mainly discloses a kind of wind turbine blade face view finding method, for solving the problems, such as that existing blade face photography sampled result is bad.The step of this method can be performed by an electronic control module of execution wind turbine blade face capture operation, which is in shutdown status, this method may include：One unmanned plane of control flies around opposite two blade faces of multiple blades of a wind turbine, and the unmanned plane and the spacing on these blade faces is made to be in a collision avoidance range, sequentially photographs towards different blade faces, exports the photography result to a servo platform.Whereby, it can effectively solve the above problems.
Description
Technical field
The present invention is about a kind of object view finding method and device；Unmanned plane is utilized towards wind-power electricity generation especially with regard to a kind of
The wind turbine blade face view finding method of the blade face photography of machine and its unmanned plane used.
Background technology
As environmental consciousness is increasingly increased with power demand, since tradition using boiler generates the hair that vapor pushes turbine
Electric mode need to use fuel, not meet ecological requirements, such as：Thermal power generation, which can discharge flue dust, nuclear energy power generation, can generate nuke rubbish etc.,
Therefore the green energy resource of exploitation low stain is gradually developed, such as：Utilize the power generations such as wind-force, solar energy, water conservancy, tide, ocean current, underground heat
Method.
Wherein, wind-power electricity generation is applicable to a large amount of power demands, such as：Wind-driven generator（Hereinafter referred to as wind turbine）It can set
In land or offshore wind field, the blade of wind turbine is driven using wind energy, produces electricl energy wind turbine rotation, and the wind field that wind condition is good
Position is located at open space mostly, as long as wind field position has a lasting condition for generating air-flow, no matter day, night, the moon, fine can all produce
Raw electric energy, the time available for power generation are longer.
For a long time in outer wind and weather, blade face can inevitably be damaged and influence electricity generation efficiency the blade of wind turbine, therefore need regular
Check blade face.It is annual to be suitble to during maintenance about April to October by taking the offshore wind field of Taiwan as an example, existing artificial range estimation and
The manpower and ship quantity that touch inspection method need to be put into are huge, and check cost is high and the consuming time is long.In order to improve this situation,
Then the method that existing manual operation aircraft checks fan blade is developed, as shown in Figure 1, first taking human as one flight of manipulation
Device 9 flies to the front of wind turbine 8 shut down, and is provided with video camera 91 on aircraft 9, then by the video camera 91 towards the wind turbine 8
Blade 81 photograph, but the wind turbine 8 is shut down when being examined, the blade 81 because leaf margin 81a it is facing forward, which, which can only obtain, leans on
The image of nearly leaf margin 81a can not obtain the image of the blade face 81b of the blade 81, and since the wind turbine 8 is bulky really,
Taking human as the operation aircraft 9, it is difficult to the video camera 91 be made to be directed at the blade face 81b of the blade 81 really by estimation mode, led
The problems such as causing blade face 81b photographies sampled result bad, does not meet maintenance of fan demand.
In view of this, it is necessary to which the shortcomings that improving the above-mentioned prior art to meet actual demand, promotes the practicality.
Invention content
The present invention provides a kind of wind turbine blade face view finding method, image can be obtained towards fan blade surface really, to examine
Whether looking into wind turbine foliage injury.
The present invention also provides a kind of unmanned planes, can obtain image towards wind turbine blade face automatically, are used to check wind turbine blade face damage
Whether wound.
The present invention provides a kind of computer program product of internally stored program and the computer-readable record of internally stored program again
Media, to perform the above method.
The present invention discloses a kind of unmanned plane, it may include：One body, there are one head end, the head end positions for tool
Define a Virtual water plane；At least one Power Component is set to the body, and required move is moved to generate the body
Power；One capture component, for tool there are one photography assembly and a steering module, which is incorporated into the photography assembly with being somebody's turn to do
Between body；One incorgruous range finder module is set to the body and the neighbouring head end, to detect using the Virtual water plane as
The distance of the object of the different spaces at interface；One communication unit；And an electronic control module, it is electrically connected the Power Component, this turn
It is defeated according to the incorgruous range finder module to module, the photography assembly, the incorgruous range finder module and the communication unit, the electronic control module
Go out signal and control the Power Component, the body is made to be moved around two blade faces in multiple blades of a wind turbine, these
Blade face and the spacing of the body are in a collision avoidance range, the photography assembly are controlled to be taken the photograph towards the blade face by the steering module
Shadow exports the photography result by the communication unit.
The incorgruous range finder module tool there are two rangefinder, two rangefinders can detect respectively using the Virtual water plane as
The distance of the object of the different spaces at interface；The rangefinder can be optical rangefinder or ultrasonic rangefinder.
It, can be automatically controlled by one of the capture operation of execution wind turbine blade face the invention also discloses a kind of wind turbine blade face view finding method
Module performs, and when which is in a shutdown status, minimizes the wind area of each blade of the wind turbine, this method
Step may include：One unmanned plane of control flies around opposite two blade faces of multiple blades of a wind turbine, makes this nobody
The spacing on machine and these blade faces be in a collision avoidance range, sequentially photographs towards different blade faces, and output result of photographing is watched to one
Take platform.
Wind turbine blade face view finding method defines a Virtual water plane, the automatically controlled mould with a head end of the unmanned plane
Block is obtained by an incorgruous range finder module using the distance of the object of the Virtual water plane as the different spaces at interface, makes this nobody
The spacing on the blade face of machine and adjacent blades is in the collision avoidance range.Ranging from 1 to 3 meter of the collision avoidance.
In the view finding method of the wind turbine blade face, include the wind area minimum of each blade of the wind turbine：Make the wind
Any one one static direction of leaf margin of direction in two lateral margins of each blade of machine, the static direction of the leaf margin and the wind turbine
An axis drum extending direction angle be less than 10 degree.
The invention also discloses a kind of computer program product of internally stored program and the computer-readable notes of internally stored program
Media are recorded, after an electronic control module for the capture operation of wind turbine blade face loads the program and performs, the above method can be completed.
The computer program product of internally stored program disclosed by the invention and the computer-readable medium storing of internally stored program,
After electronic control module loads the computer program and performs, the above method can be completed.
The beneficial effects of the invention are as follows：
Above-mentioned unmanned plane, wind turbine blade face view finding method, the computer program product of internally stored program and internally stored program computer can
Record media is read, minimizes when the wind turbine is in shutdown status, the wind area of each blade of the wind turbine, example
Such as：Any one in two lateral margins of each blade of the wind turbine is towards a static direction of leaf margin of the wind turbine, the leaf margin
Static direction and the angle of the extending direction of a propeller boss of the wind turbine are less than 10 degree, control the unmanned plane automatically in the wind turbine
It flies around opposite two blade faces of multiple blades, the unmanned plane and the spacing on these blade faces is made to be in the collision avoidance range, sequentially
It photographs towards different blade faces, and exports the photography result to the servo platform.Therefore, the present invention can reach " absorbs wind automatically
Machine blade face image ", " shorten wind turbine blade face review time " and the purpose of " photographic process is avoided to collide blade face ", can improve existing
Manual operation aircraft checks " can not obtain blade face image really " of fan blade method and " blade face checks sampled result not
It is good " the problems such as, the existing unmanned plane for having high-altitude photo function can be further applicable to, for quickly checking that wind turbine blade face is damaged
Whether, to reduce check cost and shorten the activity duration, a large amount of wind turbine Inspections are applicable to, meet future because of green wind-powered electricity generation
Needed for trend, the situation that government, the common people and producer three win is created.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1：Existing manual operation aircraft checks the method schematic diagram of fan blade；
Fig. 2：The functional block diagram of the unmanned aerial vehicle example of the present invention；
Fig. 3：The use state diagram of the unmanned aerial vehicle example of the present invention；
Fig. 4：The flow diagram of the wind turbine blade face view finding method embodiment of the present invention.
Reference sign
﹝ Xian You Ji Shu ﹞
9 aircraft, 91 video camera
8 wind turbine, 81 blade
81a leaf margin 81b blade faces
﹝ this Fa Ming ﹞
1 body, 11 head end
2 Power Components
3 capture components
31 photography assembly, 32 steering module
4a, 4b rangefinder
5 communication units
6 electronic control modules
7 wind turbines
71 blade, 711 blade face
712 lateral margin, 72 propeller boss
H Virtual water plane U unmanned planes
S1 outage S2 capture steps
D unmanned planes and the spacing on blade face.
Specific embodiment
It is hereafter special according to the present invention for above and other objects, features and advantages of the invention is enable to be clearer and more comprehensible
Preferred embodiment, and attached drawing appended by cooperation, are described in detail below：
" coupling " described in full text of the present invention refers to pass through coupling technique between two electronic devices（Such as：Electromagnetism or photoelectric coupling
Deng）Mutual transmitting signals, but be not limited, the technical field of the invention those of ordinary skill is appreciated that.
" unmanned plane " described in full text of the present invention, refer to can automatic Pilot unmanned plane（Unmanned Aerial
Vehicle, UAV）, video camera can be carried as high-altitude capture purposes, but be not limited, in the technical field of the invention
Those of ordinary skill is appreciated that.
It please refers to shown in Fig. 2, is the functional block diagram of the unmanned aerial vehicle example of the present invention.Wherein, this is used to check wind
The unmanned plane of machine blade may include a body 1, the capture component 3, two of at least one Power Component 2, one rangefinder 4a,
4b, a communication unit 5 and an electronic control module 6, the body 1 can set the Power Component 2, the capture component 3, this two surveys
Distance meter 4a, 4b, the communication unit 5 and the electronic control module 6.Wherein, which can be integrated into an incorgruous ranging
Module, to towards the adjacent quadrants sensing direction object distance of same coordinate plane；It is dynamic that the electronic control module 6 can be electrically connected this
Power component 2, the capture component 3, the incorgruous range finder module two rangefinders 4a, 4b and the communication unit 5.It is illustrated below
The embodiment of the unmanned plane, but be not limited.
For example, as shown in figure 3, it is the use state diagram of the unmanned aerial vehicle example of the present invention.Wherein, the machine
Body 1 can be any unmanned plane suitable for high-altitude photo（UAV）Construction, which can coordinate the Power Component 2, capture group
Part 3, rangefinder 4a, 4b, communication unit 5 and electronic control module 6 set-up mode and suitably change construction or material, which can
There are one head ends 11 for tool, which can define a Virtual water plane H.Additionally, which can
Construction is generated for any power that can move unmanned plane, such as：Propeller power plant module etc., but be not limited, the power
Component 2 may be disposed at the appropriate location of the body 1, move required power to generate the body 1, such as：In three dimensions
The propulsion power of any direction.
In this instance, as shown in figure 3, the capture component 3 can be to obtain and adjust the work(such as capture direction, distance with image
The device of energy, such as：The capture component 3 can have there are one photography assembly 31（Such as it is suitable for the video camera of high-altitude photo）And one turn
To module 32（Such as it is applicable in the holder for being installed in unmanned plane）, which is incorporated into the photography assembly 31 and the body 1
Between, which can be installed in 1 lower section of body near the head end 11, to obtain in front of the body 1 or laterally
Image, but be not limited.
In this instance, as shown in figure 3, two rangefinders 4a, 4b of the incorgruous range finder module can be with distance perspective measurement of power
The device of energy, such as：Optical rangefinder or ultrasonic rangefinder etc., two rangefinders 4a, the 4b may be disposed at the body 1 and neighbouring
The head end 11, two rangefinders 4a, the 4b can be detected respectively using the Virtual water plane H as the object of the different spaces at interface
Distance, such as：Rangefinder 4a, 4b can detect in the Virtual water plane H upper and lowers space whether have object respectively（Such as the phase of wind turbine
Close construction etc.）, the body 1 is avoided mutually to be collided with the object in space, it can be ensured that blade face capture operation is smoothed out.But
The embodiment of the incorgruous range finder module is not limited in the above described manner, which can also be used only single ranging
Instrument, the rangefinder may be disposed on a steering unit for connecting the body 1（Figure is not painted）, being driven by the steering unit should
Rangefinder can scan distance of the detecting using the Virtual water plane H as the object of the different spaces at interface respectively.
In this instance, as shown in figure 3, the communication unit 5 can be the transceiver module with communication function, such as：It is general to use sequence
Bus（USB）, bluetooth（Blue-tooth）Or mobile communication（mobile communication）Etc. technical specifications wired and/
Or wireless communication module etc., the communication unit 5 can couple a servo platform（Figure is not painted）, such as：Mobile operation device, high in the clouds
Server or blower fan control system etc., to receive and dispatch the related data for checking fan blade, such as：Manipulation instruction, wind turbine position
It puts or blade image etc., but is not limited.
In this instance, as shown in figure 3, the electronic control module 6 can be the module with signal generation and data processing function,
Such as：Microcontroller（MCU）, digital signal processor（DSP）, embedded system（Embeded System）, operation control card
（Computing Control Cards）Or industrial computer（IPC）Deng the electronic control module 6 can perform a control logic
（Such as：Software program or hardware circuit etc.）, to perform a blade face capture operation.
For example, as shown in figure 3, the electronic control module 6 can control the power according to the output signal of the rangefinder 4a, 4b
Component 2 makes the body 1, relative to two blade face 711 surrounding movements, can pass through this two surveys in multiple blades 71 of the wind turbine 7
Distance meter 4a, 4b auxiliary detecting object（Such as blade）Distance, these blade faces 711 and the spacing d of the body 1 is made to can be at one
Collision avoidance range（Such as：1 to 3 meter etc.）, meanwhile, which can control 31 direction of photography assembly by the steering module 32
The blade face 711 is photographed, and the electronic control module 6 can export photography result to the servo platform by the communication unit 5, as inspection
The foundation whether blade face 711 of the wind turbine 7 is damaged, such as：Taking human as range estimation presentation content or with image processing algorithm automatic interpretation
Presentation content, be it will be appreciated by those skilled in the art that, hold do not repeat herein.Therefore, unmanned aerial vehicle example of the invention
Available for the capture operation of wind turbine blade face, to reduce operating cost and to shorten the activity duration, help to promote the competing of green energy industry
Strive power.
It please refers to shown in Fig. 4, is the flow diagram of the wind turbine blade face view finding method embodiment of the present invention.Please join together
It reads shown in Fig. 2 and 3, which may include an an outage S1 and capture step S2.It first, can be into
Row outage S1, sets the wind turbine 7 with multiple blades 71 and is in shutdown status, make each blade 71 of the wind turbine 7
Wind area minimize, such as：Be each blade 71 two lateral margins 712 in any one towards a static side of leaf margin
To, and the angle of the static direction of the leaf margin and the extending direction of a propeller boss 72 of the wind turbine 7 is less than 10 degree or the leaf margin is quiet
Only direction is parallel with the extending direction of the propeller boss 72.In this instance, when above-mentioned unmanned plane U is intended to the blade for checking the wind turbine 7
When 71, which can first pass through the communication unit 5 and export a shutdown request（shut down request）To the wind
Blower fan control system belonging to machine 7（Figure is not painted）, stop turning alternatively, the wind turbine 7 can be directly controlled by the blower fan control system
It is dynamic, the wind turbine 7 is made to be in shutdown status, but is not limited.
Referring again to shown in Fig. 4, then, capture step S2 can be carried out, controls unmanned plane U in the multiple of the wind turbine 7
Opposite two blade faces 711 surrounding flight of blade 71, makes unmanned plane U and the spacing d on these blade faces 711 be in the collision avoidance model
It encloses, sequentially photographs towards different blade faces 711, the photography result is exported to above-mentioned servo platform, in this instance, due to the unmanned plane
U is equipped with two rangefinders 4a, the 4b, and whether can detect respectively in the Virtual water plane H upper and lowers space of unmanned plane U has leaf
The barriers such as piece in the image on the unmanned plane U shooting at close range blade face 711, can avoid the body 1 from colliding the blade face 711,
Such as：If the body 1 is not on the collision avoidance range, such as the body 1 and 711 hypotelorism of blade face, then can set far from the leaf
The direction in face 711 alternatively, such as the body 1 and 711 hypertelorism of blade face, then can be set close to the blade face 711 to correct direction
Direction is the amendment direction, to synthesize an adjustment vector with the direction of travel of the body 1 using the amendment direction, makes the machine
Body 11 again in the range of the collision avoidance, be in technical field those of ordinary skill it should be understood that still not with this
It is limited.
It is specifically intended that as shown in figure 3, when unmanned plane U is moved to another blade 71 by any one blade 71
During surrounding, the Virtual water plane H upper and lowers that unmanned plane U can be detected unmanned plane U respectively by two rangefinders 4a, the 4b are empty
Between 71 distance of different leaves, can be to avoid the body of unmanned plane U to grasp the position of different leaves 71 in space in real time
1 collides the blade face 711 of the blade 71.
In addition, above method embodiment of the present invention is also using program language（Program Language, such as：C++、
Java etc.）It is formulated as computer program（Such as：Fan blade Inspection program, the unmanned plane during flying for checking fan blade
Path generating routine）, program code（Program Code）Writing mode it will be understood by those skilled in the art that can be used to
A kind of computer program product of internally stored program is generated, after the electronic control module of unmanned plane loads the program and performs, can be completed
Above method embodiment of the present invention.
Additionally, above computer program product can also be stored in a kind of computer-readable record matchmaker of internally stored program
Body, such as：Various memory card, hard disk, CD or USB Portable disks etc., when the electronic control module of unmanned plane loads above procedure and performs
Afterwards, above method embodiment of the present invention can be completed, the foundation of the electronic control module software-hardware synergism running as the present invention.
Pass through the unmanned plane of above-described embodiment, wind turbine blade face view finding method, the computer program product of internally stored program and interior
Store up program computer-readable medium storing, when the wind turbine is in shutdown status, can make the wind turbine each blade by
Wind area minimizes, such as：Make any one direction one and the wind turbine in two lateral margins of each blade of the wind turbine
The angle of the extending direction of one propeller boss is less than 10 degree of the static direction of leaf margin, controls the unmanned plane automatically in the multiple of the wind turbine
It flies around opposite two blade faces of blade, the unmanned plane and the spacing on the blade face is made to be in the collision avoidance range, sequentially towards not
It photographs with blade face, and exports the photography result to the servo platform.
Whereby, the above embodiment of the present invention can reach " automatic intake wind turbine blade face image ", " shorten wind turbine blade face to check
The purpose of time " and " photographic process is avoided to collide blade face ", existing manual operation aircraft can be improved and check fan blade side
The problems such as " blade face image can not be obtained really " of method and " blade face checks that sampled result is bad ", existing tool can be further applicable to
The unmanned plane of standby high-altitude photo function, whether for quickly checking that wind turbine blade face is damaged, to reduce check cost and shorten operation
Time is applicable to a large amount of wind turbine Inspections, meets needed for following green wind-powered electricity generation trend, creates government, the common people and producer three
The situation of win.
Claims (9)
1. a kind of unmanned plane, which is characterized in that including：
One body, there are one head end, one Virtual water planes of head end position definition for tool；
At least one Power Component is set to the body, and required power is moved to generate the body；
One capture component, tool there are one photography assembly and a steering module, the steering module be incorporated into the photography assembly with
Between the body；
One incorgruous range finder module is set to the body and the neighbouring head end, to detect using the Virtual water plane as interface
Different spaces object distance；
One communication unit；And
One electronic control module is electrically connected the Power Component, the steering module, the photography assembly, the incorgruous range finder module and this is logical
Unit is interrogated, which controls the Power Component according to the output signal of the incorgruous range finder module, make the body in a wind
Multiple blades of machine move around two blade faces, and the blade face and the spacing of the body are in a collision avoidance range, pass through
The steering module controls the photography assembly to photograph towards the blade face, and the photography result is exported by the communication unit.
2. unmanned plane according to claim 1, it is characterised in that：There are two rangefinders for the incorgruous range finder module tool, this two
A rangefinder detects the distance using the Virtual water plane as the object of the different spaces at interface respectively.
3. unmanned plane according to claim 2, it is characterised in that：The rangefinder is optical rangefinder or ultrasonic ranging
Instrument.
4. a kind of wind turbine blade face view finding method, it is characterised in that：It is held by an electronic control module of execution wind turbine blade face capture operation
The step of row, the wind turbine are in a shutdown status, minimize the wind area of each blade of the wind turbine, this method is wrapped
It includes：
One unmanned plane of control flies around opposite two blade faces of multiple blades of a wind turbine, makes the unmanned plane and these
The spacing on blade face is in a collision avoidance range, sequentially photographs towards different blade faces, output photography result a to servo platform.
5. wind turbine blade face according to claim 4 view finding method, it is characterised in that：Determined with a head end of the unmanned plane
An adopted Virtual water plane, the electronic control module are obtained by an incorgruous range finder module using the Virtual water plane as the difference at interface
The distance of the object in space makes the spacing on the blade face of the unmanned plane and adjacent blades be in the collision avoidance range.
6. wind turbine blade face according to claim 4 or 5 view finding method, it is characterised in that：Ranging from 1 to 3 meter of the collision avoidance.
7. a kind of computer program product of internally stored program, it is characterised in that：When for an electricity of wind turbine blade face capture operation
After controlling the module loading program and performing, the method as described in any one of claim 4 to 6 can be completed.
8. a kind of computer-readable medium storing of internally stored program, it is characterised in that：When for the capture operation of wind turbine blade face
After one electronic control module loads the program and performs, the method as described in any one of claim 4 to 6 can be completed.
9. wind turbine blade face according to claim 4 view finding method, it is characterised in that：Make the wind-engaging of each blade of the wind turbine
Area minimum includes：Make any one one static direction of leaf margin of direction in two lateral margins of each blade of the wind turbine,
The angle of the extending direction of one propeller boss of the static direction of the leaf margin and wind turbine is less than 10 degree.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611247337.8A CN108252872A (en) | 2016-12-29 | 2016-12-29 | 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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611247337.8A CN108252872A (en) | 2016-12-29 | 2016-12-29 | 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 |
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| CN108252872A true CN108252872A (en) | 2018-07-06 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131895A (en) * | 2018-07-27 | 2019-01-04 | 上海扩博智能技术有限公司 | Unmanned plane carry device, unmanned plane and the method for detection are automatically tracked for blade |
| CN109927935A (en) * | 2019-04-22 | 2019-06-25 | 中国民用航空飞行学院 | A kind of airframe upper surface inspection method that unmanned plane oblique photograph camera combines |
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| CN205607881U (en) * | 2016-03-01 | 2016-09-28 | 西安热工研究院有限公司 | Wind turbine blades inspection device based on unmanned aerial vehicle |
| CN105717934A (en) * | 2016-04-25 | 2016-06-29 | 华北电力大学（保定） | Autonomous unmanned aerial vehicle fan blade polling system and method |
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| CN109131895A (en) * | 2018-07-27 | 2019-01-04 | 上海扩博智能技术有限公司 | Unmanned plane carry device, unmanned plane and the method for detection are automatically tracked for blade |
| CN109927935A (en) * | 2019-04-22 | 2019-06-25 | 中国民用航空飞行学院 | A kind of airframe upper surface inspection method that unmanned plane oblique photograph camera combines |
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