CN108733079A - Automatic detecting flight path is carried out to wind turbine by unmanned plane and determines method and system - Google Patents
Automatic detecting flight path is carried out to wind turbine by unmanned plane and determines method and system Download PDFInfo
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Abstract
Automatic detecting flight path is carried out to wind turbine by unmanned plane the present invention provides one kind and determining that method and system, wind turbine include at least wind tower, generator, wheel hub and impeller, impeller includes multiple blades, including：World coordinate system is established by origin O of the ground center of the wind tower of wind turbine, Y-axis is direction straight up, and Z axis is due south direction, and X-axis is due east direction；Translation transformation is carried out according to world coordinate system and rotation transformation generates the corresponding generator coordinate system of generator, translation transformation is carried out according to generator coordinate system and rotation transformation generates the corresponding wheel hub coordinate system of wheel hub, and then rotation transformation is carried out according to wheel hub coordinate system and generates the corresponding blade coordinate system of each blade；Multiple path points are set in the front side of each blade and/or rear side by the corresponding blade coordinate system of each blade, each path point includes geographical location and camera posture information, and flight path is formed according to path point.The present invention is capable of the planning of easily realizing route point, improves computational efficiency.
Description
Technical field
The present invention relates to aerator supervisions, and in particular, to a kind of to carry out automatic detecting flight road to wind turbine by unmanned plane
Diameter determines method and system.
Background technology
Wind-driven generator is to convert wind energy into mechanical work, and mechanical work drives rotor rotation, the electricity of final output alternating current
Power equipment.Wind-driven generator generally has the component groups such as blade, generator, direction-regulator, pylon, speed-limiting safety mechanism and energy storage device
At.
In the During Process of Long-term Operation of wind-driven generator, the surface of blade will present out various damages, such as blade protection
Membrane damage, blade fall paint, blade icing, blade cracks and blade greasy dirt etc..
Currently, when carrying out damage check to blade surface, generally use is manually climbed up wind-driven generator and is detected, not only
It can spend a large amount of manpower, and working at height, operating personnel are needed when being detected manually climb up wind-power electricity generation
Safety have certain risk.
Therefore camera is loaded by unmanned plane and carries out aerator supervision, can be good at replacing manually being detected.In order to
The detection efficiency for improving unmanned plane, needs to plan the flight path of unmanned plane.
Invention content
For the defects in the prior art, the object of the present invention is to provide one kind patrols wind turbine by unmanned plane automatically
Inspection flight path determines method and system.
Method, the wind turbine are determined to wind turbine progress automatic detecting flight path by unmanned plane according to provided by the invention
Including wind tower and impeller, the generator on wind tower top are set, the impeller setting drives described in the generator front end
Generator, the impeller include connect the generator wheel hub and three along the circumferentially equally distributed blade of wheel hub, including such as
Lower step：
Step S1：World coordinate system is established using the ground center of the wind tower of wind turbine as origin O, in the world coordinate system, Y
Axis is direction straight up, and Z axis is due south direction, and X-axis is due east direction；
Step S2：Translation transformation is carried out according to the world coordinate system and rotation transformation generates the corresponding hair of the generator
Motor coordinate system carries out translation transformation according to the generator coordinate system and rotation transformation generates the corresponding wheel hub of the wheel hub and sits
Mark system, and then rotation transformation is carried out according to the wheel hub coordinate system and generates the corresponding blade coordinate system of each blade；
Step S3：Multiple path points are set in the front side of each blade and/or rear side, each path point includes
Geographical location and camera posture information form flight path according to the path point.
Preferably, it is determined in the corresponding blade coordinate system of each blade on front side of each blade and/or posterior approach
The coordinate of point, specially：
A=n/ (N-1)；
V_wp [n]=[a*L, V_dist, H_dist]；
Wherein, V_wp [n] is the path point coordinates of number n, and N is the quantity of the path point along leaf length direction, and n is path
The number of point, L are the length of blade, and H_dist is horizontal distance of the path point in blade, and V_dist is path point distance
The vertical range of blade, when path point is located on front side of blade, H_dist is positive value, when path point is located on rear side of blade, H_
Dist is negative value, and when path point is located on the upside of blade, V_dist is positive value, when path point is located at blade downside, V_
Dist is negative value.
Preferably, each path point corresponds to the target point V_trgt [n] of camera observation, and the target point is located at the leaf
The length direction of blade described in piece upper edge is arranged in order, specially：
V_trgt [n]=[a*L, 0,0].
Preferably, when there is bending on the length direction of the blade,
A=n/ (N-1)；
DV=a*K1+a*a*K2；
V_wp [n]=[a*L, V_dist+dV, H_dist]；
Wherein, wherein K1 is preset coefficient of first order, K2 is preset second order coefficient.
Preferably, the camera posture information includes towards angle and pitch angle；
It is described towards angle using unmanned plane towards angle；
The geographical location of the pitch angle passage path point and the coordinate of target point, which calculate, to be generated, specially：
Dv=wpos_trgt-wpos_wp
Wpos_trgt is the world coordinates of target point, and wpos_wp is the world coordinates of path point, and dv is observed as camera
Vector, being calculate by the following formula can obtain：
R=sqrt (dv.x*dv.x+dv.z*dv.z)；
H0=atan (x, z)；
H=90-H0；
P=atan (r, y)；
Wherein, it is machine observation vector in world coordinate system that x, which is camera observation vector x-axis component, z in world coordinate system,
Z-axis component, r are the projection of camera observation vector on x-z plane, and H is camera towards angle, and P is the pitch angle of camera.
Preferably, when by nobody along the path point flight, the longitude and latitude of each position are provided by GPS module
Degree, and the distance between two positions d is calculated in the following way：
R=6371；
A=sin (dLat/2) * sin (dLat/2)+cos (dLat1)) * cos (dLat2)) * sin (dLon/2) * sin
(dLon/2)；
C=2*atan2 (sqrt (a), sqrt (1-a))；
D=R*c；
R is the earth radius that kilometer is unit；DLat is the difference of latitude between two positions, and dlon is between two positions
Difference of longitude.
Preferably, the translation matrix between the generator and the wind tower be (0, Hgt, 0), the generator with it is described
Spin matrix between wind tower is (0, Hdg, 0)；
Translation matrix between the wheel hub and the generator is (0,0, Fwd), the wheel hub and the generator it
Between spin matrix (P, 0, R)；
Multiple blades are specially blade A, blade B and blade C, the rotation between the blade A and the wheel hub
Matrix is (0,0,0), and the spin matrix between the blade B and the wheel hub is (0,0,120), the blade C and the wheel
Spin matrix between hub is (0,0,240)；
Wherein, Hgt is wind tower height, the specially distance on ground to hub centre, and Hdg is wind turbine towards angle, Fwd
For from hub centre to the position at wind tower center, P is the pitch angle of wheel hub, R is the corner of wheel hub.
Preferably, being calculated towards angle using following steps for the wind turbine is generated：
Step M1：It controls unmanned plane to fly around wind turbine with wind tower height, when unmanned plane is in flight course, be passed by image
Sensor acquires the video flowing of the impeller；
Step M2：Blade in the video flowing is detected, when detecting three blades of wind turbine, to three leaves
Piece carries out real-time tracking, and calculates the relative position and degree of overlapping of three blades in real time；
Step M3：When detecting that two blades are completely overlapped, assert on unmanned plane during flying to wind wheel plane β at this time, reads
Take the point P that position sensor obtains at this time1Location information；
Step M4：According to point P1Positional information calculation and point P1With the point P of wind tower axisymmetricly respectively2First position
Information；
Step M5：According to point P1Location information, point P2First position information and earth centroid calculate wind wheel plane
β, so according to the normal vector of the wind wheel plane determine the wind turbine towards angle.
Preferably, when the unmanned plane with wind tower height around wind turbine flight when path point position be：
V_wp [n]=[R*sin (360*n/N), H, R*cos (360*n/N)]
Wherein, H is wind tower height；The path point that leading flank central point distance apart from wheel hub is H_dist is preceding center
Path point, the path point that the trailing flank central point distance apart from wheel hub is H_dist are rear center's path point.
It is provided by the invention that system, including following module are determined to wind turbine progress automatic detecting flight path by nobody：
Root establishment of coordinate system module, it is described for establishing world coordinate system as origin O using the ground center of the wind tower of wind turbine
In world coordinate system, Y-axis is direction straight up, and Z axis is due south direction, and X-axis is due east direction；
Subcoordinate system establishes module, for being carried out described in translation transformation and rotation transformation generation according to the world coordinate system
The corresponding generator coordinate system of generator carries out translation transformation according to the generator coordinate system and rotation transformation generates the wheel
The corresponding wheel hub coordinate system of hub, and then rotation transformation is carried out according to the wheel hub coordinate system and generates the corresponding blade seat of each blade
Mark system；
Flight path generation module, for multiple path points to be arranged in the front side of each blade and/or rear side, each
The path point includes geographical location and camera posture information, and flight path is formed according to the path point.
Compared with prior art, the present invention has following advantageous effect：
Root coordinate system, i.e. world coordinate system are established as origin O using the ground center of wind tower in the present invention, by root coordinate
System carries out translation transformation and rotation transformation generates the corresponding generator coordinate system of the generator, and then is sat generating generator
Mark, blade coordinate system, so that the easily planning of realizing route point, improves computational efficiency.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is to carry out the step flow that automatic detecting flight path determines method to wind turbine by unmanned plane in the present invention
Figure；
Fig. 2 is the schematic diagram of flight path in the present invention；
Fig. 3 is the principle schematic towards angle-determining of wind turbine in the present invention；
Fig. 4 is to carry out automatic detecting flight path to wind turbine by unmanned plane in the present invention to determine that the module of system is illustrated
Figure.
In figure：
1 is wind tower；
2 be wheel hub；
3 be generator；
4 be blade A；
5 be blade B；
6 be blade C；
101 be the first plane δ；
102 be flight path curve s；
103 be wind wheel plane β；
104 be straight line l；
105 be point P1；
106 be point P2。
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
Fig. 1 is to carry out the step flow that automatic detecting flight path determines method to wind turbine by unmanned plane in the present invention
Figure；As shown in Figure 1, provided by the invention determine method, the wind by unmanned plane to wind turbine progress automatic detecting flight path
Machine includes wind tower and impeller, the generator on wind tower top is arranged, and the impeller is arranged in the generator front end to drive
State generator, the impeller include connect the generator wheel hub and three along the circumferentially equally distributed blade of wheel hub, at this
In embodiment, include the following steps：
Step S1：World coordinate system is established using the ground center of the wind tower of wind turbine as origin O, in the world coordinate system, Y
Axis is direction straight up, and Z axis is due south direction, and X-axis is due east direction；
Step S2：Translation transformation is carried out according to the world coordinate system and rotation transformation generates the corresponding hair of the generator
Motor coordinate system carries out translation transformation according to the generator coordinate system and rotation transformation generates the corresponding wheel hub of the wheel hub and sits
Mark system, and then rotation transformation is carried out according to the wheel hub coordinate system and generates the corresponding blade coordinate system of each blade；
Step S3：It is arranged in the front side of each blade and/or rear side by the corresponding blade coordinate system of each blade
Multiple path points, each path point include geographical location and camera posture information, and flight road is formed according to the path point
Diameter.
In the present embodiment, when using provided by the invention true to wind turbine progress automatic detecting flight path by unmanned plane
When determining method, when carrying out fan blade detection by unmanned plane, the path calculation module being arranged on unmanned plane will calculate nothing
The man-machine preset flight path, and shoot photo in flight path upper pathway point.Wherein each path point includes geography
Position, height and camera posture, the geographical location indicate that the height is the height relative to takeoff point using longitude and latitude
Degree, the camera posture includes camera direction and camera deflection angle.
The input of path calculation module includes：The GPS location of wind tower, the direction of wind turbine, fan parameter and self-defined ginseng
Number.The fan parameter includes wind tower height, length of blade, wind wheel relative to the Forward distance of wind tower and the direction of wind wheel.
Custom parameter includes the quantity of path point and the position of path point.
In three-dimensional system of coordinate, point and direction are indicated using vector V, V=[X, Y, Z]；In three-dimensional system of coordinate, point and side
To transformation include translation, rotation and scaling, the present invention in only relate to translate and rotate.In the present invention two three-dimensional system of coordinates it
Between converted using 4 × 4 matrixes, when being converted, it is only necessary to the multiplication for carrying out two matrixes, to realize cascade
Merge, such as M=Mt*Mr*Ms, Mt are translation matrix, and Mr is spin matrix, and Ms is scaled matrix.
In the present invention, wind turbine model may be used following component count and indicate.
■ wind towers
O generators
■ wheel hubs
Blade A
Blade B
Blade C
For each component, in world coordinate system, transformation relation is as follows：
Table 1 is the transformation relation of each component of wind turbine in the present invention
Wherein, Hgt is wind tower height, the specially distance on ground to hub centre；Hdg is wind turbine towards angle；Such as
When Hdg is 0 degree, it is oriented due north, when Hdg is 90 degree, is oriented due east, when Hdg is 180 degree, is oriented as due south, Hdg is
At 270 degree, be oriented due west, i.e., wind turbine towards angle between 0 degree to 360 degree even variation.In the present embodiment, with hair
Being oriented of motor be determined as wind turbine towards angle.Fwd is from hub centre to the position at wind tower center；P is bowing for wheel hub
The elevation angle, usually 5 degree；R is the corner of wheel hub, and in the present embodiment, the corner of wheel hub is -90 degree, i.e. blade A is flat with wind tower
Row.Rotation transformation indicates that nutational angle p, angle of precession y and angle of rotation r are formed using Eulerian angles.In the present embodiment, the wheel hub
Center is the barycenter of wheel hub.
In the present invention, it is determined in the corresponding blade coordinate system of each blade on front side of each blade and/or rear side
The coordinate of path point, specially：
A=n/ (N-1)；
V_wp [n]=[a*L, V_dist, H_dist]；
Wherein, V_wp [n] is the path point coordinates of number n, and N is the quantity of the path point along leaf length direction, and n is path
The number of point, L are the length of blade, and H_dist is horizontal distance of the path point in blade, and V_dist is path point distance
The vertical range of blade, when path point is located on front side of blade, H_dist is positive value, when path point is located on rear side of blade, H_
Dist is negative value, and when path point is located on the upside of blade, V_dist is positive value, when path point is located at blade downside, V_
Dist is negative value.
The path point of each blade both sides attached is attached on blade as the sub-goal of blade.
Each path point corresponds to the target point V_trgt [n] of camera observation, and the target point is located at the blade upper edge
The length direction of the blade is arranged in order, specially：
V_trgt [n]=[a*L, 0,0].
In the present embodiment, the target point of camera observation is attached to as the sub-goal of blade on blade.Subsequently calculating
In the process, the position of V_wp and V_trgt will be converted in world space system, and then visual angle matrix be used to calculate video camera
Towards angle and pitch angle.
When there is bending on the length direction of the blade,
A=n/ (N-1)；
DV=a*K1+a*a*K2；
V_wp [n]=[a*L, V_dist+dV, H_dist]；
Wherein, wherein K1 is preset coefficient of first order, K2 is preset second order coefficient.
In the present embodiment, the present invention increases secondary path point between different detection sections.Such as examined in the vertical view of blade
It surveys path point and looks up setting secondary path point between detection path point.
In the present embodiment, the camera posture information includes towards angle and pitch angle；
It is described towards angle using unmanned plane towards angle；
The geographical location of the pitch angle passage path point and the coordinate of target point, which calculate, to be generated, specially：
Dv=wpos_trgt-wpos_wp
Wpos_trgt is the world coordinates of target point, and wpos_wp is the world coordinates of path point, and dv is observed as camera
Vector, being calculate by the following formula can obtain：
R=sqrt (dv.x*dv.x+dv.z*dv.z)；
H0=atan (x, z)；
H=90-H0；
P=atan (r, y)；
Wherein, it is machine observation vector in world coordinate system that x, which is camera observation vector x-axis component, z in world coordinate system,
Z-axis component, r are the projection of camera observation vector on x-z plane, and H is camera towards angle, and P is the pitch angle of camera.
And H0 is converted to the reason of H and is, due north is-z-axis on, and when atan () result is 0, in+x-axis.
Geographical direction is clockwise, but the three-dimensional computations used in the present invention are right hand rules, i.e. the inverse time on x-z-plane
Needle.
When by nobody along the path point flight, the longitude and latitude of each position, this hair are provided by GPS module
It is bright middle using the calculating of Haversine formula, and the distance between two positions d is calculated in the following way：
R=6371；
A=sin (dLat/2) * sin (dLat/2)+cos (dLat1)) * cos (dLat2)) * sin (dLon/2) * sin
(dLon/2)；
C=2*atan2 (sqrt (a), sqrt (1-a))；
D=R*c；
R is the earth radius that kilometer is unit；DLat is the difference of latitude between two positions, and dlon is between two positions
Difference of longitude.
In the present embodiment, the mapping between world coordinate system and earth coordinates (GPS coordinate) is also based on the formula,
Using the bottom center of wind tower point as the origin of world coordinate system in the present invention.
In the present embodiment, the translation matrix between the generator and the wind tower is (0, Hgt, 0), the generator
Spin matrix between the wind tower is (0, Hdg, 0)；
Translation matrix between the wheel hub and the generator is (0,0, Fwd), the wheel hub and the generator it
Between spin matrix (P, 0, R)；
Multiple blades are specially blade A, blade B and blade C, the rotation between the blade A and the wheel hub
Matrix is (0,0,0), and the spin matrix between the blade B and the wheel hub is (0,0,120), the blade C and the wheel
Spin matrix between hub is (0,0,240)；
Wherein, Hgt is wind tower height, the specially distance on ground to hub centre, and Hdg is wind turbine towards angle, Fwd
For from hub centre to the position at wind tower center, P is the pitch angle of wheel hub, R is the corner of wheel hub.
Being calculated towards angle using following steps for the wind turbine is generated：
Step M1：It controls unmanned plane to fly around wind turbine with wind tower height, when unmanned plane is in flight course, be passed by image
Sensor acquires the video flowing of the impeller；
Step M2：Blade in the video flowing is detected, when detecting three blades of wind turbine, to three leaves
Piece carries out real-time tracking, and calculates the relative position and degree of overlapping of three blades in real time；
Step M3：When detecting that two blades are completely overlapped, assert on unmanned plane during flying to wind wheel plane β at this time, reads
Take the point P that position sensor obtains at this time1Location information；
Step M4：According to point P1Positional information calculation and point P1With the point P of wind tower axisymmetricly respectively2First position
Information；
Step M5：According to point P1Location information, point P2First position information and earth centroid calculate wind wheel plane
β, so according to the normal vector of the wind wheel plane determine the wind turbine towards angle.
In the present embodiment, further include following steps between step S3 and step S4：
It allows unmanned plane to continue to fly, when detecting that two blades are completely overlapped again, reads position sensor at this time and obtain
The point P taken2Second position information, pass through point P2Second position information to point P2First position information verified, to
Improve the efficiency of algorithm.
Loading position sensor, imaging sensor and airborne computer on the unmanned plane；The position sensor, the figure
As sensor connects the airborne computer；
When the unmanned plane is around wind turbine flight, the position sensor for reading unmanned plane location information, figure in real time
As sensor is used for unmanned plane location information and fan blade for shooting fan blade generation fan blade image, airborne computer
The processing of image.
Different postures are presented accurately to estimate P in different visual angles according to blade1, P2, untotal in conjunction with earth particle three
The location point of line determines wind wheel plane β, you can acquires yaw angle a.Similarly the measurement of corner is first to position PT, while reading PTIt is right
Image is answered, the orientation angles of Leaf orientation are detected using visual pattern.
As shown in figure 3, unmanned plane flies one week around axial fan hub forms the first plane δ and flight path curve s, first is flat
Face δ and wind wheel plane β intersects at straight line l；Straight line l and flight path curve s intersects at point P1、P2。
Due to point P1、P2On wind wheel plane β, therefore determining point P1、P2Cooperation earth centroid just can determine wind wheel afterwards
Plane β.
For the unmanned plane when around axial fan hub flight, described image sensor acquires the video flowing of blade, the position
Sensor acquires the corresponding location information of the video flowing.
Since present trunnion axis Large-scale Wind Turbines mostly use trilobal formula, original is blocked according to plane angle
Reason, when unmanned plane is placed exactly in point P1Or point P2When, it can be blocked by other two blades there are one blade, described image sensor
When detecting that fan blade image is two blades, further according to point P1、P2Position particularity, using vision track side
Method can be by point P1、P2It calibrates and.
Unmanned plane reads described image sensor in flight and takes video flowing f in real timei, and to image/video stream fiInto
Row pretreatment generates the bianry image stream t for containing only blade targeti。
As unmanned plane points of proximity P1Or point P2When, there are in three blades two blades to be at least partially obscured close to overlapping or a blade,
When its Duplication reaches maximum or is only able to detect two blades, imaging sensor detects bianry image stream tiIt is approximately
One tilted direction narrowband, when unmanned plane is located at point P1Or P2When, the width of the narrowband is minimum, i.e. bianry image stream tiMiddle mesh
It is minimum to mark line number accumulated value τ.
P1=P [min (τ)]
Wherein, τ is bianry image stream tiMiddle target line number accumulated value, P are the real time position of unmanned plane, P1For position interested
It sets, fiIndicate that the video image stream of imaging sensor acquisition, τ are according to tiThe value Accumulating generation of (x, y), works as tiWhen (x, y)=1
It accumulates once.
Because straight line l and flight path curve s intersect at point P1、P2, i.e. point P1、P2Relative to wheel hub there are symmetric relation, when
First calculate point P1Position can calculate point P2Approximate location, then remove check post P by unmanned plane2, to further increase
The efficiency of algorithm.
As progress P0、P1Include the following steps when location verification：
Step M1：It will point P0、P1、P2Location information convert to terrestrial coordinate system (Xe,Ye,Ze)；In the present embodiment, institute
It is GPS module, point P to state position sensor0、P1、P2Location information by GPS module, indicated using longitude, latitude, height；
Converting calculation formula is：
N is the radius of curvature in prime vertical at latitude B, and E is the first eccentricity of the earth,E=a2-b2)/
a2, a is earth major radius, and b is earth minor radius, and B is the latitude in location information, and L is the wind tower height in location information, H
For the wind tower height in location information；
Step M2：Check post P2、P1Position relationship under terrestrial coordinates, i.e., WhereinFor P2, P1Point air line distance,For P1From wind wheel centre distance,For P2From wind wheel centre distance；
Step M3：Counting accuracy ratio, judges whether accuracy ratio meets 98%<ratio<102%；
Exist in this variation, can also be determined as follows the wind turbine towards angle：
P0 points are marked in wind tower attachment, delays and nobody is taken before unmanned plane to 30 to 50 meters, P3 points are marked, so as to true
That determines wind turbine is oriented vectorial P3 to P0.Although this method does not have, P1-P2 is accurate, is seen since the position of P3 points is come back by operator
Examine the determination of wind generator.But P0-P3 methods avoid the annular flight in crop leaf measuring.
In the present embodiment, in order to determine the direction of wind turbine and the rotation angle of wheel hub, when the unmanned plane is with wind tower height
The position of path point is when spending around wind turbine flight：
V_wp [n]=[R*sin (360*n/N), H, R*cos (360*n/N)]
Wherein, H is wind tower height；The path point that leading flank central point distance apart from wheel hub is H_dist is preceding center
Path point, the path point that the trailing flank central point distance apart from wheel hub is H_dist are rear center's path point.
When using it is provided by the invention by nobody to wind turbine carry out automatic detecting flight path determine method when, work as wind turbine
Completion leading flank detection when, unmanned plane needs to fly to the trailing flank of wind turbine.In order to avoid unmanned plane hits blade, it is added to winged
Row path point and crosses the back side of wind turbine so as to the length for the blade radius that flies out.
Since there are generator case stretchings at the wind turbine back side in the present invention.Therefore when nobody taps into the detection of the row back side, increase
Safe distance is simultaneously kept at a distance.
When carrying out the merging of path point in the present invention using following sequence
■ circle zones (optional)
Center path point before ■
Detection zone before ■
O blades A
Detect path point in the sides ■
Detect path point in the other sides ■
O blades B
■ overlooks detection path point
■ looks up detection path point
O blades C
■ overlooks detection path point
■ looks up detection path point
■ crosses over zone routing point
■ rear center path point
Detection zone after ■
O blades A
Detect path point in the sides ■
Detect path point in the other sides ■
O blades B
■ overlooks detection path point
■ looks up detection path point
O blades C
■ overlooks detection path point
■ looks up detection path point
■ crosses over return area
Fig. 2 is the schematic diagram of flight path in the present invention, wherein preceding center path point is starting point, successively in preceding detection zone
Side detection path point, the other side detection path point of blade A are carried out, the vertical view detection path point of blade B looks up detection path
Point, blade C's looks up detection path point, overlooks center path point before detection path point returns to, then by crossing over zone routing
Point by the most outer of blade around to rear center's path point, successively rear detection zone carry out blade A side detection path point,
Path point is detected in the other side, and the vertical view detection path point of blade B looks up detection path point, blade C look up detection path point,
It overlooks detection path point and returns to rear center's path point.
In the present embodiment, Fig. 4 is to carry out automatic detecting flight path to wind turbine by unmanned plane in the present invention to determine system
The module diagram of system, as shown in figure 4, provided by the invention carry out automatic detecting flight path determination system by nobody to wind turbine
System, including following module：
Root establishment of coordinate system module, it is described for establishing world coordinate system as origin O using the ground center of the wind tower of wind turbine
In world coordinate system, Y-axis is direction straight up, and Z axis is due south direction, and X-axis is due east direction；
Subcoordinate system establishes module, for being carried out described in translation transformation and rotation transformation generation according to the world coordinate system
The corresponding generator coordinate system of generator carries out translation transformation according to the generator coordinate system and rotation transformation generates the wheel
The corresponding wheel hub coordinate system of hub, and then rotation transformation is carried out according to the wheel hub coordinate system and generates the corresponding blade seat of each blade
Mark system；
Flight path generation module, for passing through the corresponding blade coordinate system of each blade in the front side of each blade
And/or multiple path points are arranged in rear side, each path point includes geographical location and camera posture information, according to the path
Point forms flight path.
Root coordinate system, i.e. world coordinate system are established as origin O using the ground center of wind tower in the present invention, by root coordinate
System carries out translation transformation and rotation transformation generates the corresponding generator coordinate system of the generator, and then is sat generating generator
Mark, blade coordinate system improve computational efficiency to the planning of realizing route point.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (10)
1. a kind of determining that method, the wind turbine include wind tower and setting by unmanned plane to wind turbine progress automatic detecting flight path
Impeller, generator on wind tower top, the impeller are arranged in the generator front end to drive the generator, the impeller
Including connect the generator wheel hub and three along the circumferentially equally distributed blade of wheel hub, which is characterized in that including walking as follows
Suddenly：
Step S1：World coordinate system is established using the ground center of the wind tower of wind turbine as origin O, and in the world coordinate system, Y-axis is
Direction straight up, Z axis are due south direction, and X-axis is due east direction；
Step S2：Translation transformation is carried out according to the world coordinate system and rotation transformation generates the corresponding generator of the generator
Coordinate system carries out translation transformation according to the generator coordinate system and rotation transformation generates the corresponding wheel hub coordinate of the wheel hub
System, and then rotation transformation is carried out according to the wheel hub coordinate system and generates the corresponding blade coordinate system of each blade；
Step S3：It is multiple in the front side of each blade and/or rear side setting by the corresponding blade coordinate system of each blade
Path point, each path point include geographical location and camera posture information, and flight path is formed according to the path point.
2. according to claim 1 determine method, feature by unmanned plane to wind turbine progress automatic detecting flight path
It is, is determined in the corresponding blade coordinate system of each blade on front side of each blade and/or the coordinate of posterior approach point, tool
Body is：
A=n/ (N-1)；
V_wp [n]=[a*L, V_dist, H_dist]；
Wherein, V_wp [n] is the path point coordinates of number n, and N is the quantity of the path point along leaf length direction, and n is path point
Number, L are the length of blade, and H_dist is horizontal distance of the path point in blade, and V_dist is path point apart from blade
Vertical range, when path point is located on front side of blade, H_dist is positive value, when path point is located at blade rear side, H_dist
For negative value, when path point is located on the upside of blade, V_dist is positive value, and when path point is located at blade downside, V_dist is
Negative value.
3. according to claim 1 determine method, feature by unmanned plane to wind turbine progress automatic detecting flight path
It is, each path point corresponds to the target point V_trgt [n] of camera observation, and the target point is located at described in the blade upper edge
The length direction of blade is arranged in order, specially：
V_trgt [n]=[a*L, 0,0].
4. according to claim 2 determine method, feature by unmanned plane to wind turbine progress automatic detecting flight path
It is, when there is bending on the length direction of the blade,
A=n/ (N-1)；
DV=a*K1+a*a*K2；
V_wp [n]=[a*L, V_dist+dV, H_dist]；
Wherein, K1 is preset coefficient of first order, K2 is preset second order coefficient.
5. according to claim 1 determine method, feature by unmanned plane to wind turbine progress automatic detecting flight path
It is, the camera posture information includes towards angle and pitch angle；
It is described towards angle using unmanned plane towards angle；
The geographical location of the pitch angle passage path point and the coordinate of target point, which calculate, to be generated, specially：
Dv=wpos_trgt-wpos_wp
Wpos_trgt is the world coordinates of target point, and wpos_wp is the world coordinates of path point, dv as camera observation vector,
Being calculate by the following formula can obtain：
R=sqrt (dv.x*dv.x+dv.z*dv.z)；
H0=atan (x, z)；
H=90-H0；
P=atan (r, y)；
Wherein, it is machine observation vector z-axis in world coordinate system that x, which is camera observation vector x-axis component, z in world coordinate system,
Component, r are the projection of camera observation vector on x-z plane, and H is camera towards angle, and P is the pitch angle of camera.
6. according to claim 1 determine method, feature by unmanned plane to wind turbine progress automatic detecting flight path
It is, when by nobody along the path point flight, the longitude and latitude of each position is provided by GPS module, and pass through
As under type calculates the distance between two positions d：
R=6371；
A=sin (dLat/2) * sin (dLat/2)+cos (dLat1)) * cos (dLat2)) * sin (dLon/2) * sin (dLon/
2)；
C=2*atan2 (sqrt (a), sqrt (1-a))；
D=R*c；
R is the earth radius that kilometer is unit；DLat is the difference of latitude between two positions, and dlon is the warp between two positions
Degree is poor.
7. according to claim 2 determine method, feature by unmanned plane to wind turbine progress automatic detecting flight path
It is, the translation matrix between the generator and the wind tower is (0, Hgt, 0), between the generator and the wind tower
Spin matrix is (0, Hdg, 0)；
Translation matrix between the wheel hub and the generator is (0,0, Fwd), between the wheel hub and the generator
Spin matrix (P, 0, R)；
Multiple blades are specially blade A, blade B and blade C, the spin matrix between the blade A and the wheel hub
For (0,0,0), the spin matrix between the blade B and the wheel hub is (0,0,120), the blade C and the wheel hub it
Between spin matrix be (0,0,240)；
Wherein, Hgt is wind tower height, the specially distance on ground to hub centre, and Hdg is wind turbine towards angle, Fwd be from
Hub centre is to the position at wind tower center, and P is the pitch angle of wheel hub, and R is the corner of wheel hub.
8. according to claim 7 determine method, feature by unmanned plane to wind turbine progress automatic detecting flight path
It is, being calculated towards angle using following steps for the wind turbine is generated：
Step M1：It controls unmanned plane to fly around wind turbine with wind tower height, when unmanned plane is in flight course, passes through imaging sensor
Acquire the video flowing of the impeller；
Step M2：Blade in the video flowing is detected, when detecting three blades of wind turbine, to three blades into
Row real-time tracking, and the relative position and degree of overlapping of three blades are calculated in real time；
Step M3：When detecting that two blades are completely overlapped, assert on unmanned plane during flying to wind wheel plane β at this time, read this
When position sensor obtain point P1Location information；
Step M4：According to point P1Positional information calculation and point P1With the point P of wind tower axisymmetricly respectively2First position information；
Step M5：According to point P1Location information, point P2First position information and earth centroid calculate wind wheel plane β, into
And according to the normal vector of the wind wheel plane determine the wind turbine towards angle.
9. according to claim 8 determine method, feature by unmanned plane to wind turbine progress automatic detecting flight path
Be, when the unmanned plane with wind tower height around wind turbine flight when path point position be：
V_wp [n]=[R*sin (360*n/N), H, R*cos (360*n/N)]
Wherein, H is wind tower height；The path point that leading flank central point distance apart from wheel hub is H_dist is preceding center path
Point, the path point that the trailing flank central point distance apart from wheel hub is H_dist are rear center's path point.
10. a kind of determining system by nobody to wind turbine progress automatic detecting flight path, for realizing in claim 1 to 9
Any one of them carries out automatic detecting flight path to wind turbine by unmanned plane and determines method, which is characterized in that including as follows
Module：
Root establishment of coordinate system module, for establishing world coordinate system, the world by origin O of the ground center of the wind tower of wind turbine
In coordinate system, Y-axis is direction straight up, and Z axis is due south direction, and X-axis is due east direction；
Subcoordinate system establishes module, for carrying out translation transformation and the rotation transformation generation power generation according to the world coordinate system
The corresponding generator coordinate system of machine carries out translation transformation according to the generator coordinate system and rotation transformation generates the wheel hub pair
The wheel hub coordinate system answered, and then rotation transformation is carried out according to the wheel hub coordinate system and generates the corresponding blade coordinate of each blade
System；
Flight path generation module, for by the corresponding blade coordinate system of each blade the front side of each blade and/
Or multiple path points are arranged in rear side, each path point includes geographical location and camera posture information, according to the path point
Form flight path.
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| CN115145314B (en) * | 2022-09-01 | 2023-02-03 | 风脉能源（武汉）股份有限公司 | Fan blade inspection path planning method based on unmanned aerial vehicle |
| CN115145314A (en) * | 2022-09-01 | 2022-10-04 | 风脉能源（武汉）股份有限公司 | Unmanned aerial vehicle-based fan blade inspection path planning method |
| CN115562337A (en) * | 2022-10-10 | 2023-01-03 | 无锡海纳智能科技有限公司 | Method for generating fan inspection route and electronic equipment |
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