CN109131895A - Unmanned plane carry device, unmanned plane and the method for detection are automatically tracked for blade - Google Patents
Unmanned plane carry device, unmanned plane and the method for detection are automatically tracked for blade Download PDFInfo
- Publication number
- CN109131895A CN109131895A CN201810844850.8A CN201810844850A CN109131895A CN 109131895 A CN109131895 A CN 109131895A CN 201810844850 A CN201810844850 A CN 201810844850A CN 109131895 A CN109131895 A CN 109131895A
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- Prior art keywords
- blade
- solid
- unmanned plane
- state radar
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
Abstract
The present invention provides a kind of unmanned plane carry device, unmanned plane and methods that detection is automatically tracked for blade, including holder, camera and solid-state radar；The front end of the holder is provided with an erecting bed；The holder drives the erecting bed to be rotated in a first direction；The one side of the erecting bed is provided with the camera, and another side is provided with the solid-state radar；The detection mouth of the camera lens direction of the camera and the solid-state radar is towards identical.By being arranged solid-state radar and camera on same erecting bed in the present invention, angle adjustment can be carried out simultaneously with the rotation of erecting bed, collateral security is when the solid-state radar detects a leaf area of target blade, the leaf area simultaneously in the shooting visual field of the camera, consequently facilitating the target blade to tracking detects.
Description
Technical field
The present invention relates to fan blade tracing detections, and in particular, to it is a kind of detection is automatically tracked for blade nobody
Machine carry device, unmanned plane and method.
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.But
It when unmanned plane loading camera is worked, is positioned using GPS, but GPS positioning is there are error and modeling forms nobody
There is also certain errors when the flight path of machine, not can guarantee the center that fan blade is constantly in camera shooting picture,
Even there is the case where deviating from shooting picture, it is therefore desirable to the method that track up is carried out to blade always.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of automatically tracked for blade detection nobody
Machine carry device, unmanned plane and method.
There is provided according to the present invention for blade automatically track the unmanned plane carry device of detection, including holder, camera with
And solid-state radar；
The front end of the holder is provided with an erecting bed；The holder drives the erecting bed to be rotated in a first direction；Institute
The one side for stating erecting bed is provided with the camera, and another side is provided with the solid-state radar；
The detection mouth of the camera lens direction of the camera and the solid-state radar is towards identical.
Preferably, the holder includes mounting plate, first motor, first connecting rod, the second motor, second connecting rod, third electricity
Machine and erecting bed；
Motor mounting groove is provided on the mounting plate；First motor is installed in the motor mounting groove；Described first
Motor driven first connecting rod is rotated in a second direction,；The upper end of the first connecting rod connects the output shaft of the first motor, under
End is provided with the second motor；The second motor driven second connecting rod is rotated along third direction；
Described second connecting rod one end is provided with third motor；The third motor driven erecting bed is rotated in a first direction；
The output axis connection of one end of the erecting bed and the third motor, the other end and described second connecting rod one end are hinged；
The upper side of the erecting bed is provided with the camera, and downside is provided with the solid-state radar.
Preferably, the second connecting rod is in U-shape, the midpoint of second connecting rod described in the output axis connection of second motor
End；
The erecting bed is in frame shape；The camera is installed in the inside of the erecting bed, and downside is provided with the solid-state thunder
It reaches；
The first direction, the second direction and the third direction are mutually perpendicular to.
The unmanned plane provided according to the present invention automatically tracks detection for blade, which is characterized in that including no human body and
The unmanned plane carry device that detection is automatically tracked for blade；
The downside of the no human body is provided with installation part；
The mounting plate of the unmanned plane carry device connects the installation part.
It preferably, further include airborne computer；
The airborne computer carrying is on the no human body；
Camera, solid-state radar, first motor, the second motor and third motor on the unmanned plane carry device are electrically connected
Connect the unmanned plane.
There is provided according to the present invention by solid-state radar carry out blade automatically track detection method, for by unmanned plane into
The detection of row fan blade, using the unmanned plane, which comprises the steps of:
Step S1: it controls the unmanned plane and carries out from the one side of target blade from tip region to base region or from leaf
Root zone domain to tip region flies and the solid-state radar by being arranged on the unmanned plane detects target blade；
Step S2: when the solid-state radar detects the fan blade, in the detection visual field of the solid-state radar
Form the corresponding blade point cloud chart of a leaf area on the fan blade；
Step S3: the blade point cloud is made by the detection mouth direction of the cradle head control solid-state radar on the unmanned plane
Figure is located on the detection visual field in preset position section；
Step S4: with the unmanned plane during flying, step S2 to S3 is repeated, is realized through the solid-state radar to institute
It states blade and is tracked detection.
Preferably, the step S3 includes the following steps:
Step S301: it adjusts the holder and makes a side of the blade point cloud chart apart from the preset position section
A side less than the first pre-determined distance；
Step S302: when the movement with the unmanned plane, a side of the blade point cloud chart is moved to described default
One side of position section side when and distance apart from preset one side of position section to be greater than described first default
Apart from when, adjust the holder and the detection visual field of the solid-state radar moved up；
Step S303: when the movement with the unmanned plane, the blade point cloud chart is moved to the preset position area
Between a side the other side when and distance apart from the preset another side in position section be greater than first pre-determined distance
When, it adjusts the holder and the detection visual field of the solid-state radar is moved down.
Preferably, the field angle horizontal direction of the solid-state radar is 60 °, and vertical direction is 4 °, the visual field of the camera
Angle is 15.6 °；
The preset position section is to detect between the 30% to 70% of visual field length.
Preferably, when, into step S4, when the solid-state radar detects target blade, passing through unmanned plane in step S2
Multiple images of the camera continuous acquisition target blade of upper setting；
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.
Compared with prior art, the present invention have it is following the utility model has the advantages that
It, can be same with the rotation of erecting bed by being arranged solid-state radar and camera on same erecting bed in the present invention
The adjustment of Shi Jinhang angle, collateral security is when the solid-state radar detects a leaf area of target blade, the leaf area
Simultaneously in the shooting visual field of the camera, consequently facilitating the target blade to tracking detects；
The present invention makes the solid-state radar visual field by the detection mouth direction of the cradle head control solid-state radar on the unmanned plane
The blade point cloud chart of interior formation is located on the detection visual field in preset position section, runs to realize to blade when being placed on tracking
Partially, the continuous tracing detection of blade is realized.
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 the structural schematic diagram for automatically tracking one direction of unmanned plane carry device of detection in the present invention for blade；
Fig. 2 is the structural representation for automatically tracking the unmanned plane carry device other direction of detection in the present invention for blade
Figure；
Fig. 3 is the structural schematic diagram of holder in the present invention.
Fig. 4 is to carry out the step flow chart that blade automatically tracks detection method by solid-state radar in the present invention；
Fig. 5 is to adjust the step process for carrying out blade tracking in the present invention in preset position section by blade point cloud chart
Figure；
Fig. 6 is stream the step of carrying out defective locations and Classifcation of flaws to the image for collecting target blade in the present invention
Cheng Tu；
Fig. 7 is to carry out the schematic illustration that blade automatically tracks detection by solid-state radar in the present invention；
When Fig. 8 is that a side of blade point cloud chart in the present invention is moved to the side of preset one side of position section
Schematic diagram；
Fig. 9 is that a side of blade point cloud chart in the present invention is moved to the other side of preset one side of position section
When schematic diagram.
In figure:
1 is holder；
2 be camera；
3 be solid-state radar；
101 be mounting plate；
102 be first motor；
103 be first connecting rod；
104 be the second motor；
105 be second connecting rod；
106 be third motor；
107 be erecting bed；
108 be position sensor.
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, Fig. 2 shows the structural representations for the unmanned plane carry device for automatically tracking detection in the present invention for blade
Figure, as shown in Figure 1 and Figure 2, the present invention provides a kind of unmanned plane carry device that detection is automatically tracked for blade, including holder
1, camera 2 and solid-state radar 3；
The front end of the holder 1 is provided with an erecting bed 107；The holder 1 drives the erecting bed 107 along first direction
Rotation；The one side of the erecting bed 107 is provided with the camera 2, and another side is provided with the solid-state radar 3；
The detection mouth of the camera lens direction of the camera 2 and the solid-state radar 3 is towards identical.
In the present embodiment, the camera lens direction of the camera 2 and the detection mouth of the solid-state radar 3 are oriented away from described
The direction of erecting bed 107, it is described when using the unmanned plane carry device for automatically tracking detection provided by the present invention for blade
The camera lens direction of camera 2 and the detection mouth of the solid-state radar 3 are oriented the position where target blade to be detected
Fig. 3 is the structural schematic diagram of holder 1 in the present invention, as shown in figure 3, the holder 1 includes mounting plate 101, first
Motor 102, first connecting rod 103, the second motor 104, second connecting rod 105, third motor 106 and erecting bed 107；
Motor mounting groove is provided on the mounting plate 101；First motor 102 is installed in the motor mounting groove；Institute
Stating first motor 102 drives first connecting rod 103 to be rotated in a second direction,；The upper end connection described first of the first connecting rod 103
The output shaft of motor 102, lower end are provided with the second motor 104；Second motor 104 drives second connecting rod 105 along third party
To rotation；
Described 105 one end of second connecting rod is provided with third motor 106；The third motor 106 drives erecting bed 107 along the
The rotation of one direction；The output axis connection of one end of the erecting bed 107 and the third motor 106, the other end and described second
105 one end of connecting rod is hinged；
The upper side of the erecting bed 107 is provided with the camera 2, and downside is provided with the solid-state radar 3.
The second connecting rod 105 is in U-shape, the midpoint of second connecting rod 105 described in the output axis connection of second motor 104
End；The erecting bed 107 is in frame shape；The camera 2 is installed in the inside of the erecting bed 107, and downside is provided with the solid-state
Radar 3；
The first direction, the second direction and the third direction are mutually perpendicular to.
In the present embodiment, the first direction is horizontal direction, and the second direction is vertical short transverse, described
Third direction is the vertical direction vertical with the horizontal direction.
In the present embodiment, position sensor 108 is additionally provided in the upper side of the erecting bed 107.
The position sensor 108 uses DOF module, and the DOF module includes that three-axis gyroscope and 3-axis acceleration pass
Sensor device.
In the present embodiment, unmanned plane provided by the invention automatically tracks detection for blade, including without human body and institute
That states automatically tracks the unmanned plane carry device of detection for blade；
The downside of the no human body is provided with installation part；
The mounting plate 101 of the unmanned plane carry device connects the installation part.
Unmanned plane provided by the invention further includes airborne computer；
The airborne computer carrying is on the no human body；
Camera 2, solid-state radar 3, first motor 102, the second motor 104 and third on the unmanned plane carry device
Motor 106 is electrically connected the unmanned plane.
Three-axis gyroscope and 3-axis acceleration sensor device in the DOF module are electrically connected the airborne computer, to
The airborne computer sends the location information of erecting bed 107, and the airborne computer according to the positional information, controls described first
106 electricity of motor 102, the second motor 104 and third motor, to realize the adjustment of the position of holder 1.
In the present embodiment, in the present embodiment, the first mounting hole, the mounting plate 101 are provided on the installation part
On be provided with the second mounting hole；First mounting hole is provided between the second mounting hole on the mounting plate 101 and is provided with rubber
Rubber mat.
In the present embodiment, the first mounting hole, rubber pad, the second mounting hole can be linked together by band.
Fig. 4 is to carry out the step flow chart that blade automatically tracks detection method, such as Fig. 4 by solid-state radar 3 in the present invention
It is shown, it is provided by the invention that detection method is automatically tracked by the progress blade of solid-state radar 3, for carrying out blower by unmanned plane
The detection of blade is included the following steps: using the unmanned plane
Step S1: it controls the unmanned plane and carries out from the one side of target blade from tip region to base region or from leaf
Root zone domain to tip region flies and the solid-state radar 3 by being arranged on the unmanned plane detects target blade；
Step S2: when the solid-state radar 3 detects the fan blade, in the detection visual field of the solid-state radar 3
It is interior to form the corresponding blade point cloud chart of a leaf area on the fan blade；
Step S3: the blade point is made by the detection mouth direction that the holder 1 on the unmanned plane controls solid-state radar 3
Cloud atlas is located on the detection visual field in preset position section；
Step S4: with the unmanned plane during flying, repeating step S2 to S3, and it is right by the solid-state radar 3 to realize
The blade is tracked detection.
In the present embodiment, when the unmanned plane is carried out from the one side of the target blade from tip region to blade root area
Domain or from the unmanned plane and the target blade distance when base region to tip region flight, is controlled at 8 meters or so.
In the present embodiment, it is also necessary to the blade point cloud chart is converted into depth of blade figure, then execute step S3,
Step S4.
Fig. 5 is to adjust the step process for carrying out blade tracking in the present invention in preset position section by blade point cloud chart
Figure；As shown in figure 5, the step S3 includes the following steps:
Step S301: it adjusts the holder 1 and makes a side of the blade point cloud chart apart from the preset position area
Between a side less than the first pre-determined distance；
Step S302: when the movement with the unmanned plane, a side of the blade point cloud chart is moved to described default
One side of position section side when and distance apart from preset one side of position section to be greater than described first default
Apart from when, adjust the holder 1 and the detection visual field of the solid-state radar 3 moved up, so that the blade
One side of point cloud chart is less than first pre-determined distance at a distance from preset one side of position section, as shown in Figure 8；
Step S303: when the movement with the unmanned plane, the blade point cloud chart is moved to the preset position area
Between a side the other side when and distance apart from the preset another side in position section be greater than first pre-determined distance
When, it adjusts the holder 1 and the detection visual field of the solid-state radar 3 is moved down, so that blade point cloud
Another side of figure is less than first pre-determined distance at a distance from preset one side of position section, as shown in Figure 9.
In the present embodiment, the blower includes wind tower and the impeller that wind tower top is arranged in, and the impeller includes wheel hub
With three along the circumferentially equally distributed fan blade of wheel hub
In the present embodiment, the angle between the target blade and the wind tower is 60 °.The one of the blade point cloud chart
Side is the left-hand end of the blade point cloud chart, and preset one side of position section is the left side in the preset position section
Side.
In variation, the angle between the target blade and the wind tower is 60 ° or 300 °, when in the target leaf
The front side of piece, and when carrying out overlooking detection, a side of the blade point cloud chart is the left-hand end of the blade point cloud chart, described
Preset one side of position section is the left-hand end in the preset position section；When going forward side by side in the front side of the target blade
When row looks up detection, a side of the blade point cloud chart is the right-hand end of the blade point cloud chart, the preset position area
Between a side be the preset position section right-hand end；When the rear side in the target blade, and carry out overlook detection when,
One side of the blade point cloud chart is the right-hand end of the blade point cloud chart, and preset one side of position section is described
The right-hand end in preset position section；When in the front side of the target blade, and when carrying out looking up detection, the blade point cloud chart
A side be the blade point cloud chart left-hand end, preset one side of position section be the preset position section
Left-hand end.
In variation, when the angle between the target blade and the wind tower is 180 °, when with the unmanned plane
Movement so that when a side of the blade point cloud chart is moved to the side of preset one side of position section and distance
When the distance of preset one side of position section is greater than first pre-determined distance, the unmanned plane is controlled to blade point cloud
The side extreme direction of figure flies, so that so that a side of the blade point cloud chart and the preset position section
The distance of one side is less than first pre-determined distance；When the movement with the unmanned plane so that the blade point cloud chart is mobile
To preset one side of position section the other side when and the distance apart from preset one side of position section be greater than
When first pre-determined distance, controls the unmanned plane and fly to the other side extreme direction of blade point cloud chart, so that so as to
So that a side of the blade point cloud chart be less than at a distance from preset one side of position section described first it is default away from
From a side of the blade point cloud chart is the left-hand end or right-hand end of the blade point cloud chart.
In variation, when the angle between the target blade and the wind tower is 180 °, when with the unmanned plane
Movement so that when a side of the blade point cloud chart is moved to the side of preset one side of position section and distance
When the distance of preset one side of position section is greater than first pre-determined distance, the unmanned plane is controlled to blade point cloud
The side extreme direction of figure, which flies and adjusts the holder 1, moves up the detection visual field of the solid-state radar 3, so as to
So that a side of the blade point cloud chart be less than at a distance from preset one side of position section described first it is default away from
From；When the movement with the unmanned plane so that the blade point cloud chart is moved to the another of preset one side of position section
When distance when side and apart from the preset another side in position section is greater than first pre-determined distance, the nothing is controlled
It is man-machine to fly to the other side extreme direction of blade point cloud chart and adjust the detection visual field that the holder 1 makes the solid-state radar 3
Move down so that so that a side of the blade point cloud chart and preset one side of position section away from
From first pre-determined distance is less than, a side of the blade point cloud chart is left-hand end or the right side of the blade point cloud chart
End.
The field angle horizontal direction of the solid-state radar 3 is 60 °, and vertical direction is 4 °, and the field angle of the camera 2 is
15.6°；
The preset position section is to detect between the 30% to 70% of visual field length.The detection visual field multiplies for 320
With 20 pixels.
In the present embodiment, the solid-state radar 3 is using the awake CE30-D solid-state laser radar in north.
When in step S2 into step S4, when the solid-state radar 3 detects target blade, by being arranged on unmanned plane
2 continuous acquisition target blade of camera multiple images；
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.
Fig. 6 is stream the step of carrying out defective locations and Classifcation of flaws to the image for collecting target blade in the present invention
Cheng Tu, as shown in fig. 6, when identifying that the defect of the blade includes the following steps: in described image
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.
Fig. 7 is the schematic illustration for automatically tracking detection in the present invention by the progress blade of solid-state radar 3, as shown in fig. 7,
The detection visual field of block diagram generally solid-state radar 3, the region between a-quadrant and B area is preset position section, when using originally
When automatically tracking detection method by the progress blade of solid-state radar 3 of invention offer, the blade point cloud chart of formation, the i.e. region C will
The left side endpoint of the blade point cloud chart in the area C is overlapped with the right edge of a-quadrant；
When Fig. 8 is that a side of blade point cloud chart in the present invention is moved to the side of preset one side of position section
Schematic diagram, as shown in Figure 8 when the movement with the unmanned plane, when the area C be moved to the a-quadrant and apart from a-quadrant
The first pre-determined distance of right edge, such as 3 pixels, adjust the holder 1 and make the detection visual field of the solid-state radar 3 upward
It is mobile；When Fig. 9 is that a side of blade point cloud chart in the present invention is moved to the other side of preset one side of position section
Schematic diagram, as shown in figure 9, when with the unmanned plane movement, the area C be moved to far from a-quadrant right side and distance
When the first pre-determined distance of right edge of the a-quadrant, adjusts the holder 1 and make the detection visual field of the solid-state radar 3 downward
It is mobile.
In variation, when the movement with the unmanned plane adjusts the cloud when area C is moved to the a-quadrant
Platform 1 moves up the detection visual field of the solid-state radar 3；When the movement with the unmanned plane, the area C is moved to far
When right edge from a-quadrant, adjusts the holder 1 and the detection visual field of the solid-state radar 3 is moved down, i.e., move the area C
Dynamic left end is fixed in the a-quadrant right edge.
It, can be same with the rotation of erecting bed by being arranged solid-state radar and camera on same erecting bed in the present invention
The adjustment of Shi Jinhang angle, collateral security is when the solid-state radar detects a leaf area of target blade, the leaf area
Simultaneously in the shooting visual field of the camera, consequently facilitating the target blade to tracking detects；
The present invention makes the solid-state radar visual field by the detection mouth direction of the cradle head control solid-state radar on the unmanned plane
The blade point cloud chart of interior formation is located on the detection visual field in preset position section, runs to realize to blade when being placed on tracking
Partially, the continuous tracing detection of blade is realized.
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. a kind of unmanned plane carry device for automatically tracking detection for blade, which is characterized in that including holder, camera and consolidate
State radar；
The front end of the holder is provided with an erecting bed；The holder drives the erecting bed to be rotated in a first direction；The peace
The one side of dress platform is provided with the camera, and another side is provided with the solid-state radar；
The detection mouth of the camera lens direction of the camera and the solid-state radar is towards identical.
2. the unmanned plane carry device according to claim 1 for automatically tracking detection for blade, which is characterized in that
The holder includes mounting plate, first motor, first connecting rod, the second motor, second connecting rod, third motor and installation
Platform；
Motor mounting groove is provided on the mounting plate；First motor is installed in the motor mounting groove；The first motor
Driving first connecting rod is rotated in a second direction,；The upper end of the first connecting rod connects the output shaft of the first motor, and lower end is set
It is equipped with the second motor；The second motor driven second connecting rod is rotated along third direction；
Described second connecting rod one end is provided with third motor；The third motor driven erecting bed is rotated in a first direction；It is described
The output axis connection of one end of erecting bed and the third motor, the other end and described second connecting rod one end are hinged；
The upper side of the erecting bed is provided with the camera, and downside is provided with the solid-state radar.
3. the unmanned plane carry device according to claim 2 for automatically tracking detection for blade, which is characterized in that
The second connecting rod is in U-shape, the midpoint end of second connecting rod described in the output axis connection of second motor；
The erecting bed is in frame shape；The camera is installed in the inside of the erecting bed, and downside is provided with the solid-state radar；
The first direction, the second direction and the third direction are mutually perpendicular to.
4. a kind of unmanned plane automatically tracks detection for blade, which is characterized in that appoint including no human body and claims 1 to 3
The unmanned plane carry device of detection is automatically tracked described in one for blade；
The downside of the no human body is provided with installation part；
The mounting plate of the unmanned plane carry device connects the installation part.
5. unmanned plane according to claim 4, which is characterized in that further include airborne computer；
The airborne computer carrying is on the no human body；
Camera, solid-state radar, first motor, the second motor and third motor on the unmanned plane carry device are electrically connected institute
State unmanned plane.
6. a kind of automatically track detection method by solid-state radar progress blade, for carrying out the inspection of fan blade by unmanned plane
It surveys, using unmanned plane described in claim 4 or 5, which comprises the steps of:
Step S1: it controls the unmanned plane and carries out from the one side of target blade from tip region to base region or from blade root area
Domain to tip region flies and the solid-state radar by being arranged on the unmanned plane detects target blade；
Step S2: it when the solid-state radar detects the fan blade, is formed in the detection visual field of the solid-state radar
The corresponding blade point cloud chart of a leaf area on the fan blade；
Step S3: blade point cloud chart position is made by the detection mouth direction of the cradle head control solid-state radar on the unmanned plane
In on the detection visual field in preset position section；
Step S4: with the unmanned plane during flying, step S2 to S3 is repeated, is realized through the solid-state radar to the leaf
Piece is tracked detection.
7. according to claim 6 automatically track detection method by solid-state radar progress blade, which is characterized in that described
Step S3 includes the following steps:
Step S301: it adjusts the holder and makes a side of the blade point cloud chart apart from the one of the preset position section
Side is less than the first pre-determined distance；
Step S302: when the movement with the unmanned plane, a side of the blade point cloud chart is moved to the preset position
Distance when setting the side of one side of section and apart from preset one side of position section is greater than first pre-determined distance
When, it adjusts the holder and the detection visual field of the solid-state radar is moved up；
Step S303: when the movement with the unmanned plane, the blade point cloud chart is moved to the preset position section one
When distance when the other side of side and apart from preset one side of position section is greater than first pre-determined distance, adjustment
The holder moves down the detection visual field of the solid-state radar.
8. according to claim 6 automatically track detection method by solid-state radar progress blade, which is characterized in that described
The field angle horizontal direction of solid-state radar is 60 °, and vertical direction is 4 °, and the field angle of the camera is 15.6 °；
The preset position section is to detect between the 30% to 70% of visual field length.
9. it is according to claim 6 by solid-state radar carry out blade automatically track detection method, which is characterized in that when
Step S2 is into step S4, when the solid-state radar detects target blade, is continuously 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.
10. according to claim 9 automatically track detection method by solid-state radar progress blade, which is characterized in that
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 is carried out defective locations and is lacked
Fall into the label of type.
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| CN201810844850.8A CN109131895A (en) | 2018-07-27 | 2018-07-27 | Unmanned plane carry device, unmanned plane and the method for detection are automatically tracked for blade |
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