CN108894933A - With losing method for catching again and system when by unmanned plane to blower blade tip tracing detection - Google Patents
With losing method for catching again and system when by unmanned plane to blower blade tip tracing detection Download PDFInfo
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- CN108894933A CN108894933A CN201810675477.8A CN201810675477A CN108894933A CN 108894933 A CN108894933 A CN 108894933A CN 201810675477 A CN201810675477 A CN 201810675477A CN 108894933 A CN108894933 A CN 108894933A
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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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- 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
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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Abstract
With losing method for catching again and system when passing through unmanned plane to blower blade tip tracing detection the present invention provides one kind, blower includes wind tower and impeller, the generator that wind tower top is arranged in, impeller includes connecting the wheel hub of generator and multiple along the circumferentially equally distributed blade of wheel hub, using a blade as target blade, include the following steps：Control unmanned plane flies from tip region to base region from the progress of the one side of target blade and passes through the solid-state radar being arranged on unmanned plane and detects to target blade；When solid-state radar detects target blade, control unmanned plane and target blade distance determine a flight path position when being more than or equal to the first set distance；Control unmanned plane flies to tip region from flight path position and then is flown to base region by tip region while being passed through the solid-state radar being arranged on unmanned plane and be tracked detection to target blade.The invention avoids tip regions with the problem of losing, and realizes taking pictures comprehensively for tip region, complete detection.
Description
Technical field
The present invention relates to aerator supervisions, and in particular, to losing when one kind passes through unmanned plane to blower blade tip tracing detection
Method for catching and system again.
Background technique
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 can show various damages, such as blade protection
Membrane damage, blade fall paint, blade icing, blade cracks and blade greasy dirt etc..
Currently, generalling use when carrying out damage check to blade surface and manually climbing up wind-driven generator and detected, not only
It can spend a large amount of manpower, and need high altitude operation, operating personnel when carrying out and detecting 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
Improve unmanned plane detection efficiency, need to plan the flight path of unmanned plane, but when complete blade one side into
When row, need to detour by blade tip end to the other side of blade, and tip region, the narrower width of blade, and solid-state radar
Field angle be it is determining, often detect at this time less than blade, to cause the detection to tip region not comprehensive enough or even generate
The phenomenon that missing inspection.
Summary of the invention
For the defects in the prior art, blower blade tip is tracked by unmanned plane the object of the present invention is to provide one kind and is examined
With losing method for catching again and system when survey.
It is provided by the invention by unmanned plane to blower blade tip tracing detection when with losing method for catching again, the blower includes
Wind tower and impeller, the generator that wind tower top is arranged in, the impeller are arranged in the generator front end to drive the power generation
Machine, the impeller include connecting the wheel hub of the generator and multiple along the circumferentially equally distributed blade of wheel hub, and a blade is made
For target blade, include the following steps：
Step S1：It controls unmanned plane and fly simultaneously from tip region to base region from the one side of the target blade
Target blade is detected by the solid-state radar being arranged on unmanned plane；
Step S2：When the solid-state radar detects the target blade, the unmanned plane and the target leaf are controlled
Piece distance determines a flight path position when being more than or equal to the first set distance；
Step S3：The unmanned plane is controlled to fly from the flight path position to tip region and then by tip region
To base region, passing through the solid-state radar being arranged on unmanned plane is tracked detection to target blade simultaneously for flight.
Preferably, when in step s3, when the solid-state radar detects target blade, passing through what is be arranged on unmanned plane
Multiple images of camera continuous acquisition target blade；
The defect of the blade is identified in described image, and marks out the defective locations and defect of each defect
The number of blade where type and the defect.
Preferably, when the defect for identifying the blade in described image includes the following steps：
Step M101：The defect of the blade is categorized into several defect types, the corresponding leaf of every kind of defect type of acquisition
Picture region generates multiple groups training image；
Step M102：Pass through the training defect recognition module of training image described in multiple groups；
Step M103：Collected multiple images input defect recognition module is identified and carries out defective locations
With the label of defect type.
It preferably, further include following steps before step S1：
Unmanned plane by being provided with solid-state radar carries out from base region to tip region target blade another side
Tracking detection；
When the solid-state radar, which has detected the unmanned plane, flies away from first set distance of tip region, pass through
The camera acquisition video flowing being arranged on the unmanned plane, the detection court of the camera lens of the camera towards angle and the solid-state radar
It is identical to angle；
The video flowing is checked by a control interface, confirms that the unmanned plane has flown away from institute when passing through the video flowing
When stating tip region, controls the unmanned plane and detoured by blade tip end to the target blade one side and trigger step S1.
Preferably, when in step S1, into step S5, the flight path of the unmanned plane generates in the following way
Step N1：World coordinate system is established using the ground center of the wind tower of blower as origin O, in the world coordinate system, Y
Axis is direction straight up, Z axis be Due South to, X-axis be positive east to；
Step N2：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 N3：It is arranged by the corresponding blade coordinate system of each blade in the front side of each blade and/or rear side
Multiple path points, each path point include geographical location and camera posture information, form flight road according to the path point
Line.
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 coordinate 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, 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 are calculated and are 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, 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)；
Wherein, Hgt is wind tower height, the specially distance on ground to hub centre, and Hdg is blower 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 blower is generated：
Step M1：It controls unmanned plane to fly with wind tower height around blower, 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 blower, 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 location information and earth centroid calculate wind wheel plane
β, so according to the normal vector of the wind wheel plane determine the blower towards angle.
It is provided by the invention by unmanned plane to blower blade tip tracing detection when with losing capture system again, for realizing described
By unmanned plane to blower blade tip tracing detection when with losing method for catching again, including following module：
First tracking detecting module, for control unmanned plane from the one side of the target blade carry out from tip region to
It flies and passes through the solid-state radar being arranged on unmanned plane and target blade is detected in base region；
Distance controlling module, for when the solid-state radar detects the target blade, control the unmanned plane with
The target blade distance determines a flight path position when being more than or equal to the first set distance；
Second tracking detecting module, flies to tip region again for controlling the unmanned plane from the flight path position
And then it is flown to base region by tip region while being passed through the solid-state radar being arranged on unmanned plane target blade is tracked
Detection.
Compared with prior art, the present invention has following beneficial effect：
In the present invention when progress fan blade one side flies detection from tip region to base region, when the solid-state
When radar detection is to the target blade and adjusts to unmanned plane and target blade distance and be more than or equal to the first set distance
When, then fly and be back to tip region, and then flown by tip region to base region, avoid asking with losing for tip region
Topic realizes taking pictures comprehensively for tip region, complete detection.
Detailed description of the invention
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 step process when passing through unmanned plane to blower blade tip tracing detection in the present invention with losing again method for catching
Figure；
Fig. 2 is the flight path schematic diagram of apoplexy down side of the present invention detection；
Fig. 3 is the flight path schematic diagram detected on rear side of blower in the present invention；
Fig. 4 is the schematic illustration of blower in the present invention determined towards angle；
Fig. 5 is the module signal for capturing system when passing through unmanned plane to blower blade tip tracing detection in the present invention again with losing
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 embodiment
The present invention is described in detail combined with specific embodiments below.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 scope.
Fig. 1 is step process when passing through unmanned plane to blower blade tip tracing detection in the present invention with losing again method for catching
Figure；As shown in Figure 1, it is provided by the invention by unmanned plane to blower blade tip tracing detection when with losing method for catching again, the wind
Machine includes wind tower and impeller, the generator that wind tower top is arranged in, and the impeller is arranged in the generator front end to drive
State generator, the impeller includes connecting the wheel hub of the generator and multiple along the circumferentially equally distributed blade of wheel hub, by one
Blade includes the following steps as target blade：
Step S1：It controls unmanned plane and fly simultaneously from tip region to base region from the one side of the target blade
Target blade is detected by the solid-state radar being arranged on unmanned plane；
Step S2：When the solid-state radar detects the target blade, the unmanned plane and the target leaf are controlled
Piece distance determines a flight path position when being more than or equal to the first set distance；
Step S3：The unmanned plane is controlled to fly from the flight path position to tip region and then by tip region
To base region, passing through the solid-state radar being arranged on unmanned plane is tracked detection to target blade simultaneously for flight.
In the present embodiment, the blade upwardly extended is as target blade, specifically, towards Z axis in earth axes
Positive axis.First set distance is 8 to 10 meters.
In the present embodiment, when the control unmanned plane and target blade distance are more than or equal to the first set distance
When, the configuration parameter for adjusting the camera being arranged on the unmanned plane is also needed, such as the shooting angle of camera, the focal length of camera and camera
Exposure parameter etc..
In the present embodiment, the solid-state radar is using the awake CE30-D solid-state laser radar in north.
In the present embodiment, the tip region can be set as 1/8 length of blade close to blade tip end, and base region can
To be set as 1/8 length of blade close to root end.
In the present embodiment, when the unmanned plane flies from the flight path position to tip region, institute need to be flown away from
The first set distance of tip region is stated, to guarantee to acquire before tip region.
Due to flying in progress fan blade one side from tip region to base region in the tip region present invention of blade
When row detection, when the solid-state radar detects the target blade and adjust big to unmanned plane and target blade distance
It when being equal to the first set distance, then flies and is back to tip region, and then flown by tip region to base region, avoid
Tip region with the problem of losing, realize taking pictures comprehensively for tip region, complete detection
When in step s3, when the solid-state radar detects target blade, passes through the camera being arranged on unmanned plane and connect
Continuous acquisition multiple images of target blade；
The defect of the blade is identified in described image, and marks out the defective locations and defect of each defect
The number of blade where type and the defect.
In the present embodiment, the defect type includes following any or appoints a variety of：
Blade cracking；
Attachment falls off；
Surface corrosion；
Fall paint in surface；
Gel coat falls off；
Gel coat crackle.
In variation, blade lightning damage, surface contamination, structural failure or leading edge protection membrane damage etc. can also be increased
Other damages.
When the defect for identifying the blade in described image includes the following steps：
Step M101：The defect of the blade is categorized into several defect types, the corresponding leaf of every kind of defect type of acquisition
Picture region generates multiple groups training image；
Step M102：Pass through the training defect recognition module of training image described in multiple groups；
Step M103：Collected multiple images input defect recognition module is identified and carries out defective locations
With the label of defect type.
In the present embodiment, it is in several defect types by the defect classification of the blade in the present invention, acquires every kind of defect
The corresponding leaf image region of type generates multiple groups training image, trains defect recognition module by training image described in multiple groups,
To improve the recognition efficiency of defect type.
In the present embodiment, the label for carrying out defective locations and defect type, specially by defective locations in blade upper ledge
Out, the defect type is gone out by words identification or is gone out by character mark.
In leaf image Area generation multiple groups training image that every kind of defect type is corresponding, by the blade figure
As the background removal in region；
The background is the area adjacent in the plane with the leaf image region generated when acquiring leaf image region
Domain.
When multiple collected described images are inputted defect recognition module identification, the background of described image is gone
It removes.
In the present embodiment, when the background can shoot blower image, the backgrounds such as ground, meadow, sky of introducing will
The background removal in the leaf image region removes the blades image-region in described image.By the back of described image
Scape removal, i.e., by the image non-blower and leaf area remove.
When implement it is provided by the invention by unmanned plane to blower blade tip tracing detection when with losing method for catching again when, in step
It further include following steps before rapid S1：
Unmanned plane by being provided with solid-state radar carries out from base region to tip region target blade another side
Tracking detection；
When the solid-state radar, which has detected the unmanned plane, flies away from first set distance of tip region, pass through
The camera acquisition video flowing being arranged on the unmanned plane, the detection court of the camera lens of the camera towards angle and the solid-state radar
It is identical to angle；
The video flowing is checked by a control interface, confirms that the unmanned plane has flown away from institute when passing through the video flowing
When stating tip region, controls the unmanned plane and detoured by blade tip end to the target blade one side and trigger step S1.
When in step S1, into step S5, the flight path of the unmanned plane generates in the following way, including walks as follows
Suddenly：
Step N1：World coordinate system is established using the ground center of the wind tower of blower as origin O, in the world coordinate system, Y
Axis is direction straight up, Z axis be Due South to, X-axis be positive east to；
Step N2：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 N3：It is arranged by the corresponding blade coordinate system of each blade in the front side of each blade and/or rear side
Multiple path points, each path point include geographical location and camera posture information, form flight road according to the path point
Line.
In the present embodiment, the path computing mould being arranged when carrying out fan blade detection by unmanned plane, on unmanned plane
Block will calculate the preset flight path of unmanned plane, and shoot photo in flight path upper pathway point.Wherein each road
Diameter point includes geographical location, height and camera posture, and the geographical location indicates that the height is opposite using longitude and latitude
In the height of takeoff point, the camera posture includes camera direction and camera deflection angle.
The input of path calculation module includes：GPS location, the direction of blower, fan parameter and the customized ginseng of wind tower
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 of two matrixes is carried out, 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, blower model can be indicated using following component count.
■ wind tower
ο generator
■ wheel hub
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 blower in the present invention
| Component names | Translation transformation | Rotation transformation |
| Wind tower | (0,0,0) | (0,0,0) |
| Generator | (0, Hgt, 0) | (0, Hdg, 0) |
| Wheel hub | (0,0, Fwd) | (P, 0, R) |
| Blade A | (0,0,0) | (0,0,60) |
| Blade B | (0,0,0) | (0,0,180) |
| Blade C | (0,0,0) | (0,0,300) |
Wherein, Hgt is wind tower height, the specially distance on ground to hub centre；Hdg is blower 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., blower towards angle between 0 degree to 360 degree even variation.In the present embodiment, with hair
Being oriented of motor be determined as blower 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 and wind tower are flat
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 mass center of wheel hub.
In the present embodiment, blade B is target blade, and blade C is another blade, and blade A is another blade.
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 coordinate 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 two sides attached is attached on blade as the sub-goal of blade.
The target point V_trgt [n] of the corresponding camera observation of each path point, the target point are located at edge on the blade
The length direction of the blade is arranged successively, specially：
V_trgt [n]=[a*L, 0,0].
In the present embodiment, the target point of camera observation is attached on blade as the sub-goal of blade.In subsequent calculating
In the process, the position of V_wp and V_trgt will be converted in world space system, and then calculate video camera using visual angle matrix
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 and secondary path point is set 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 are calculated and are 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 (0,0,60), and the spin matrix between the blade B and the wheel hub is (0,0,180), the blade C and the wheel
Spin matrix between hub is (0,0,300)；
Wherein, Hgt is wind tower height, the specially distance on ground to hub centre, and Hdg is blower 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 blower is generated：
Step M1：It controls unmanned plane to fly with wind tower height around blower, 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 blower, 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 location information and earth centroid calculate wind wheel plane
β, so according to the normal vector of the wind wheel plane determine the blower towards angle.
It 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 location information, pass through point P2Second location information to point P2First location information verified, thus
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 blower 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, can acquire 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 4, unmanned plane is around axial fan hub one week formation the first plane δ and flight path curve s of flight, first is flat
Face δ and wind wheel plane β intersect at straight line l；Straight line l and flight path curve s intersect 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 has a blade and is blocked by other two blades, 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 real time in flight and takes video flowing fi, and to image/video stream fi into
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
Marking line number accumulated value τ is minimum.
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 check post P is removed by unmanned plane2, to further increase
The efficiency of algorithm.
As progress P0、P1Include the following steps when location verification：
Step A1：It will point P0、P1、P2Location information convert to terrestrial coordinate system (Xe,Ye,Ze)；In the present embodiment, institute
Stating position sensor is GPS module, point P0、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 A2：Check post P2、P1Positional relationship under terrestrial coordinates, i.e., WhereinFor P2, P1Point linear distance,For P1From wind wheel centre distance,For P2From wind wheel centre distance；
Step A3：Counting accuracy ratio, judges whether accuracy ratio meets 98%<ratio<102%；
Exist in this variation, can also be determined as follows the blower towards angle：
P0 point is marked in wind tower attachment, delays and nobody is taken before unmanned plane to 30 to 50 meters, P3 point is marked, so as to true
That determines blower is oriented vector P3 to P0.Although this method does not have, P1-P2 is accurate, sees since the position of P3 point is come back by operator
Blower is examined to determine.But P0-P3 method avoids the annular flight in crop leaf measuring.
In the present embodiment, in order to determine the direction of blower 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 blower flight：
V_wp [n]=[R*sin (360*n/N), H, R*cos (360*n/N)]
Wherein, H is wind tower height；Leading flank central point distance apart from wheel hub is that the path point of H_dist is preceding center
Path point, the trailing flank central point distance apart from wheel hub are that the path point of H_dist is rear center's path point.
Fig. 2 is the flight path schematic diagram of apoplexy down side of the present invention detection, and Fig. 3 is to detect on rear side of blower in the present invention
Flight path schematic diagram, as shown in Figure 2 and Figure 3, when carrying out the merging of path point in the present invention using following sequence
■ circle zone can omit
Center path point before ■
■ blade A
Detection path point is overlooked on front side of ■
Detection path point is overlooked on rear side of ■
Detection path point is looked up on rear side of ■
Detection path point is looked up on front side of ■
Center path point before ■
■ blade B
Path point is detected in front side on the left of ■
Rear side detects path point on the left of ■
■ is around wind tower rotating path point
Rear side detects path point on the right side of ■
Path point is detected in front side on the right side of ■
Center path point before ■
■ blade C
Detection path point is overlooked on front side of ■
Detection path point is overlooked on rear side of ■
Detection path point is looked up on rear side of ■
Detection path point is looked up on front side of ■
Center path point before ■
Wherein preceding center path point is starting point, and detection path point is overlooked, around blade A blade tip in the front side for successively carrying out blade A
Path point, rear side overlook detection path point, rear side looks up detection path point, before blade A blade tip path point, the left side of blade B
Detect path point, left side rear side detection path point, on front side of wind tower rotating path point, right side rear side detection path point, right side in side
Path point is detected, detection path point is overlooked in the front side of blade C, rear side overlooks detection path point, rear side looks up detection path point, preceding
Look up detection path point in side.
In the present embodiment, Fig. 5 be in the present invention by unmanned plane to blower blade tip tracing detection when with losing to capture again be
The module diagram of system, as shown in figure 5, provided by the invention carry out the determining system of automatic detecting flight path to blower by nobody
System 100, for realizing it is described by unmanned plane to blower blade tip tracing detection when with losing method for catching again, including such as lower die
Block：
First tracking detecting module 101, carries out from the one side of the target blade from blade tip area for controlling unmanned plane
It flies and passes through the solid-state radar being arranged on unmanned plane and target blade is detected in domain to base region；
Distance controlling module 102, for controlling the unmanned plane when the solid-state radar detects the target blade
A flight path position is determined when being more than or equal to the first set distance with the target blade distance；
Second tracking detecting module 103, flies from the flight path position to blade tip area for controlling the unmanned plane
Domain and then by tip region fly to base region and meanwhile pass through the solid-state radar being arranged on unmanned plane to target blade carry out
Tracking detection.
In the present invention when progress fan blade one side flies detection from tip region to base region, when the solid-state
When radar detection is to the target blade and adjusts to unmanned plane and target blade distance and be more than or equal to the first set distance
When, then fly and be back to tip region, and then flown by tip region to base region, avoid asking with losing for tip region
Topic realizes taking pictures comprehensively for tip region, complete detection.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to 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 substantive content of the invention.
Claims (10)
1. the blower includes wind tower and setting with losing method for catching again when one kind passes through unmanned plane to blower blade tip tracing detection
Impeller, generator on wind tower top, the impeller are arranged in the generator front end to drive the generator, the impeller
Including connecting the wheel hub of the generator and multiple along the circumferentially equally distributed blade of wheel hub, using a blade as target blade,
It is characterised in that it includes following steps：
Step S1：Control unmanned plane fly and pass through from tip region to base region from the one side of the target blade
The solid-state radar being arranged on unmanned plane detects target blade；
Step S2：When the solid-state radar detects the target blade, control the unmanned plane and the target blade away from
A flight path position is determined from when being more than or equal to the first set distance；
Step S3：The unmanned plane is controlled to fly from the flight path position to tip region and then flown by tip region
To base region, passing through the solid-state radar being arranged on unmanned plane is tracked detection to target blade simultaneously.
2. it is according to claim 1 by unmanned plane to blower blade tip tracing detection when with losing method for catching again, feature
It is, when in step s3, when the solid-state radar detects target blade, continuously being adopted by the camera being arranged on unmanned plane
Collect multiple images of target blade；
The defect of the blade is identified in described image, and marks out the defective locations and defect type of each defect
And the number of blade where the defect.
3. it is according to claim 2 by unmanned plane to blower blade tip tracing detection when with losing method for catching again, feature
It is,
When the defect for identifying the blade in described image includes the following steps：
Step M101：The defect of the blade is categorized into several defect types, the corresponding blade figure of every kind of defect type of acquisition
As region, multiple groups training image is generated；
Step M102：Pass through the training defect recognition module of training image described in multiple groups；
Step M103：Collected multiple images input defect recognition module is identified and carried out defective locations and is lacked
Fall into the label of type.
4. it is according to claim 1 by unmanned plane to blower blade tip tracing detection when with losing method for catching again, feature
It is, further includes following steps before step S1：
By be provided with the unmanned plane of solid-state radar to target blade another side carry out from base region to tip region with
Track detection；
When the solid-state radar, which has detected the unmanned plane, flies away from first set distance of tip region, by described
The camera acquisition video flowing being arranged on unmanned plane, the camera lens of the camera is towards the detection of angle and the solid-state radar towards angle
It spends identical；
The video flowing is checked by a control interface, confirms that the unmanned plane has flown away from the leaf when passing through the video flowing
When sharp region, controls the unmanned plane and detoured by blade tip end to the target blade one side and trigger step S1.
5. it is according to claim 1 by unmanned plane to blower blade tip tracing detection when with losing method for catching again, feature
It is, when in step S1, into step S5, the flight path of the unmanned plane generates in the following way
Step N1：World coordinate system is established using the ground center of the wind tower of blower as origin O, and in the world coordinate system, Y-axis is
Direction straight up, Z axis be Due South to, X-axis be positive east to；
Step N2：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 N3：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, form flight path according to the path point.
6. it is according to claim 5 by unmanned plane to blower blade tip tracing detection when with losing method for catching again, feature
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 coordinate 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.
7. it is according to claim 5 by unmanned plane to blower blade tip tracing detection when with losing method for catching again, feature
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 are calculated and are 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.
8. it is according to claim 6 by unmanned plane to blower blade tip tracing detection when with losing method for catching again, feature
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)；
Wherein, Hgt is wind tower height, and the specially distance on ground to hub centre, Hdg is blower 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.
9. it is according to claim 8 by unmanned plane to blower blade tip tracing detection when with losing method for catching again, feature
It is, being calculated towards angle using following steps for the blower is generated：
Step M1：It controls unmanned plane to fly with wind tower height around blower, 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 blower, 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 location information；
Step M5：According to point P1Location information, point P2First location information and earth centroid calculate wind wheel plane β, into
And according to the normal vector of the wind wheel plane determine the blower towards angle.
10. system is captured again with losing when one kind passes through unmanned plane to blower blade tip tracing detection, for realizing claim 1 to 9
Any one of described in by unmanned plane to blower blade tip tracing detection when with losing method for catching again, which is characterized in that including such as
Lower module：
First tracking detecting module, carries out from the one side of the target blade from tip region to blade root for controlling unmanned plane
It flies and passes through the solid-state radar being arranged on unmanned plane and target blade is detected in region；
Distance controlling module, for when the solid-state radar detects the target blade, control the unmanned plane with it is described
Target blade distance determines a flight path position when being more than or equal to the first set distance；
Second tracking detecting module, for control the unmanned plane fly from the flight path position to tip region and then
It is flown to base region by tip region while being passed through the solid-state radar being arranged on unmanned plane detection is tracked to target blade.
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| CN113534093A (en) * | 2021-08-13 | 2021-10-22 | 北京环境特性研究所 | Propeller blade number inversion method for airplane target and target identification method |
| CN113534093B (en) * | 2021-08-13 | 2023-06-27 | 北京环境特性研究所 | Method for inverting number of propeller blades of aircraft target and target identification method |
| CN114215704A (en) * | 2021-12-14 | 2022-03-22 | 复亚智能科技(太仓)有限公司 | Power generation fan blade image acquisition device and method and storage medium |
| CN115097867A (en) * | 2022-08-23 | 2022-09-23 | 无锡海纳智能科技有限公司 | Method for determining unmanned aerial vehicle shooting attitude under fan inspection route |
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