CN109162879A - Unmanned plane, which is controlled, by multisensor carries out fan blade detection method and system - Google Patents
Unmanned plane, which is controlled, by multisensor carries out fan blade detection method and system Download PDFInfo
- Publication number
- CN109162879A CN109162879A CN201810906932.0A CN201810906932A CN109162879A CN 109162879 A CN109162879 A CN 109162879A CN 201810906932 A CN201810906932 A CN 201810906932A CN 109162879 A CN109162879 A CN 109162879A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- blade
- distance
- detection
- blower
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Electromagnetism (AREA)
- Sustainable Energy (AREA)
- Sustainable Development (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Unmanned plane progress fan blade detection method and system are controlled by multisensor the present invention provides a kind of, including unmanned plane is placed on front side of blower, control unmanned plane flies along preset path；When unmanned plane is along preset path flight, the detection of barrier is carried out by space length sensor；When space length sensor detects a barrier, barrier is calculated at a distance from unmanned plane；Judge distance whether be less than preset alarm distance, when distance be less than or equal to preset alarm apart from when, control unmanned plane alert.It only needs for unmanned plane to be placed in the present invention on front side of blower, when controlling unmanned plane along preset path flight, the detection of barrier is carried out by space length sensor, and detect distance of the unmanned plane away from barrier less than or equal to preset alarm apart from when, the warning message such as control unmanned plane hovering is issued, realizes effective avoidance of the unmanned plane in flight.
Description
Technical field
The present invention relates to fan blade tracing detections, and in particular, to a kind of to control unmanned plane progress by multisensor
Fan blade detection method and system.
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 nothing
It when man-machine loading camera is worked, needs by carrying out modeling analysis to wind-driven generator, consequently facilitating to control unmanned plane
It flies along preset polling path, realizes the detection to damaging on wind-driven generator；
Furthermore it when unmanned plane is along polling path flight, is positioned using GPS, but there are errors for GPS positioning, exist
Knock the risk of blower.
Summary of the invention
For the defects in the prior art, unmanned plane progress is controlled by multisensor the object of the present invention is to provide a kind of
Fan blade detection method and system.
What is provided according to the present invention controls unmanned plane progress fan blade detection method, the unmanned plane by multisensor
On be mounted with space length sensor, the blower includes wind tower and the impeller that wind tower top is arranged in, and the impeller includes wheel
Hub and three include the following steps: along the circumferentially equally distributed blade of wheel hub
Step S1: the unmanned plane is placed on front side of the blower, is controlled the unmanned plane and is flown along preset path；
Step S2: when the unmanned plane is along the preset path flight, hindered by the space length sensor
Hinder the detection of object；
Step S3: when the space length sensor detects a barrier, the barrier and the nothing are calculated
Man-machine distance；
Step S4: judging whether the distance is less than preset alarm distance, when the distance be less than or equal to preset alarm away from
From when, control the unmanned plane alert.
Preferably, an airborne computer and camera are mounted on the unmanned plane；
The space length sensor includes any one of solid-state radar, sonar module and time-of-flight sensor or appoints
It is a variety of；
The sonar module, the time-of-flight sensor, the camera and solid-state radar electrical connection are described airborne
Computer.
Preferably, the step S1 includes the following steps:
Step S101: the unmanned plane is placed on front side of blower, so that the wind tower is located at the spy of the solid-state radar
Range is surveyed, and then controls the unmanned plane and flies along preset path；
Step S102: when the unmanned plane is along preset path flight, the blower is acquired by the solid-state radar
Point cloud chart, and then blower model is rebuild according to the point cloud chart of the blower；
Step S103: in the blower model, multiple paths are set in the front side of each blade and/or rear side
Point forms detection flight path according to the path point；
Step S104: it controls the unmanned plane and flies along the detection flight path, by the solid-state radar to described
Blade is tracked the image for detecting and acquiring the blade detected by the camera.
Preferably, the step S2 includes the following steps:
Step S201: when the unmanned plane flies along the preset path and/or when the detection flight path flight, leads to
It crosses the space length sensor and detects an object；
Step S202: according to the position of the unmanned plane, the court for the space length sensor for detecting the object
To and the distance between the calculated unmanned plane and the object generate the location information of the object；
Step S203: judging whether the location information of the object is located on the blower model, when the position of the object
When confidence breath is located on the blower model, then determine that the object is not barrier, when the location information of the object does not exist
When on the blower model, then determine the object for barrier.
Preferably, a soundproof plate, institute are provided between each sonar module and the driving motor of the unmanned plane
State the noise that soundproof plate is generated for completely cutting off the driving motor of the unmanned plane；
The soundproof plate is in horn-like, on the inside of smaller one end of internal diameter that the soundproof plate is arranged in the sonar module.
Preferably, the warning message includes following any or appoints much information:
Control the control information of unmanned plane hovering；
Control the control information that unmanned plane issues alarm sound；
Control the control information of alarm lamp flashing on unmanned plane.
Preferably, the step S104 includes the following steps:
Step S1041: it controls the unmanned plane and is carried out from the one side of the blade from leaf along the detection flight path
Sharp region to base region flies from base region to tip region and passes through the solid-state radar pair being arranged on the unmanned plane
Target blade is detected；
Step S1042: when the solid-state radar detects the blade, the shape in the detection visual field of the solid-state radar
At the corresponding blade point cloud chart of a leaf area on the blade；
Step S1043: described towards making by the detection mouth of solid-state radar described in the cradle head control on the unmanned plane
Blade point cloud chart is located on the detection visual field in preset position section；
Step S1044: with the unmanned plane during flying, step S1042 to S1043 is repeated, is realized by described solid
State radar is tracked detection to the blade.
Preferably, the step S1043 includes the following steps:
Step M1: it adjusts the holder and makes a side of the blade point cloud chart apart from the preset position section
One side is less than the first pre-determined distance；
Step M2: when the movement with the unmanned plane, a side of the blade point cloud chart is moved to described preset
The distance when side of one side of position section and apart from preset one side of position section be greater than described first it is default away from
From when, adjust the holder and the detection visual field of the solid-state radar moved up；
Step M3: when the movement with the unmanned plane, the blade point cloud chart is moved to the preset position section
When distance when the other side of one side and apart from preset one side of position section is greater than first pre-determined distance, adjust
The whole holder moves down the detection visual field of the solid-state radar.
Preferably, the step S102 includes the following steps:
Step S1021: when the unmanned plane is along preset path flight, the blower is acquired by the solid-state radar
Point cloud chart；
Step S1022: the wind wheel plane of the blower, wind tower height, at least are calculated according to the point cloud chart of the blower
The protrusion length at the corresponding wind tower center of the corner and wheel hub of one blade；
Step S1023: according to the wind wheel plane, the wind tower height, an at least blade the corner and wheel hub
Protrusion length relative to wind tower center rebuilds blower model.
It is provided by the invention that unmanned plane progress fan blade detection system is controlled by multisensor, for realizing described
Unmanned plane, which is controlled, by multisensor carries out fan blade detection method, comprising:
Flight control modules fly for controlling the unmanned plane being placed on front side of the blower along preset path；
Obstacle detection module, for passing through the space length when the unmanned plane is along the preset path flight
The detection of sensor progress barrier；
Obstacle distance computing module, for calculating institute when the space length sensor detects a barrier
Barrier is stated at a distance from the unmanned plane；
Alarm module, for judging whether the distance is less than preset alarm distance, when the distance is less than or equal to preset
When alarm distance, the unmanned plane alert is controlled.
Compared with prior art, the present invention have it is following the utility model has the advantages that
It only needs for unmanned plane to be placed in the present invention on front side of blower, when controlling unmanned plane along preset path flight, pass through
Space length sensor carries out the detection of barrier, and is detecting distance of the unmanned plane away from barrier less than or equal to preset alarm
Apart from when, issue the warning message such as control unmanned plane hovering, realize effective avoidance of the unmanned plane in flight.
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 to control the step flow chart that unmanned plane carries out fan blade detection method by multisensor in the present invention；
Fig. 2 is the electrical relation schematic diagram of multisensor and airborne computer in the present invention；
Fig. 3 is the step flow chart for automatically tracking detection for carrying out fan blade in the present invention by unmanned plane；
Fig. 4 be determine in the present invention object whether be barrier step flow chart；
Fig. 5 is to carry out the step flow chart that blade automatically tracks detection method by solid-state radar in the present invention；
Fig. 6 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；
When Fig. 7 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. 8 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；
Fig. 9 is the step flow chart for rebuilding blower model in the present invention according to the point cloud chart of blower；
Figure 10 is to control the module diagram that unmanned plane carries out fan blade detection system by multisensor in the present invention.
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 to control the step flow chart that unmanned plane carries out fan blade detection method by multisensor in the present invention,
It unmanned plane is controlled by multisensor carries out fan blade detection method as shown in Figure 1, provided by the invention, on the unmanned plane
It is mounted with space length sensor, 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 blade of wheel hub, include the following steps:
Step S1: the unmanned plane is placed on front side of the blower, is controlled the unmanned plane and is flown along preset path；
Step S2: when the unmanned plane is along the preset path flight, hindered by the space length sensor
Hinder the detection of object；
Step S3: when the space length sensor detects a barrier, the barrier and the nothing are calculated
Man-machine distance；
Step S4: judging whether the distance is less than preset alarm distance, when the distance be less than or equal to preset alarm away from
From when, control the unmanned plane alert.
In the present embodiment, it only needs for unmanned plane to be placed in the present invention on front side of blower, control unmanned plane is along default road
When diameter flight, the detection of barrier is carried out by space length sensor, and small detecting distance of the unmanned plane away from barrier
In be equal to preset alarm apart from when, issue as control unmanned plane hovering warning message, realize unmanned plane it is effective in flight
Avoidance.
In the present embodiment, the warning message includes following any or appoints much information:
Control the control information of unmanned plane hovering；
Control the control information that unmanned plane issues alarm sound；
Control the control information of alarm lamp flashing on unmanned plane.
Fig. 2 is the electrical relation schematic diagram of multisensor and airborne computer in the present invention, as shown in Fig. 2, the unmanned plane
On be mounted with an airborne computer and camera；
The space length sensor includes any one of solid-state radar, sonar module and time-of-flight sensor or appoints
It is a variety of；
The sonar module, the time-of-flight sensor, the camera and solid-state radar electrical connection are described airborne
Computer.
In the present embodiment, the quantity of the sonar module is 6, and 6 sonar modules are along the multiple along described
Unmanned plane is circumferentially uniformly distributed, and the sonar module uses KS103 ultrasonic distance measuring module, and can be realized investigative range is 1cm
~800cm, horizontal field of view angle are 60 °.In the present embodiment, the preset alarm distance is 400cm.
In the present embodiment, the time-of-flight sensor be 6,6 time-of-flight sensors along it is described nobody
Machine is circumferentially uniformly distributed, and the time-of-flight sensor uses the time-of-flight sensor of model HPS-166C, can be realized
Investigative range is 40cm~3000cm, and field angle is ± 1.8 °.
Fig. 3 is the step flow chart for automatically tracking detection for carrying out fan blade in the present invention by unmanned plane, such as Fig. 3 institute
Show, the step S1 includes the following steps:
Step S101: the unmanned plane is placed on front side of blower, so that the wind tower is located at the spy of the solid-state radar
Range is surveyed, and then controls the unmanned plane and flies along preset path；
Step S102: when the unmanned plane is along preset path flight, the blower is acquired by the solid-state radar
Point cloud chart, and then blower model is rebuild according to the point cloud chart of the blower；
Step S103: in the blower model, multiple paths are set in the front side of each blade and/or rear side
Point forms detection flight path according to the path point；
Step S104: it controls the unmanned plane and flies along the detection flight path, by the solid-state radar to described
Blade is tracked the image for detecting and acquiring the blade detected by the camera.
In the present embodiment, the quantity of the solid-state radar is one, and the detection mouth of the solid-state radar is towards the nothing
Man-machine heading.The solid-state radar is using the awake CE30-D solid-state laser radar in north, and investigative range is in 0.4~30m.It is described
The field angle horizontal direction of solid-state radar is 60 °, and vertical direction is 4 °, and the detection visual field is 320 multiplied by 20 pixels.The camera
Field angle be 15.6 °.
In step s 103, the coordinate of multiple path points is set in the front side of each blade and/or rear side, specifically
Are as follows:
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 length of blade direction, and n is road
The number of diameter point, L be blade length, H_dist be horizontal distance of the path point in blade, V_dist be path point away from
Vertical range from 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.
Wherein, the path point of each blade two sides as blade sub-goal it is attached be attached on blade, and be attached in turn
On blower model.
Fig. 4 be determine in the present invention object whether be barrier step flow chart, as shown in figure 4, the step S2
Include the following steps:
Step S201: when the unmanned plane flies along the preset path and/or when the detection flight path flight, leads to
It crosses the space length sensor and detects an object；
Step S202: according to the position of the unmanned plane, the court for the space length sensor for detecting the object
To and the distance between the calculated unmanned plane and the object generate the location information of the object；
Step S203: judging whether the location information of the object is located on the blower model, when the position of the object
When confidence breath is located on the blower model, then determine that the object is not barrier, when the location information of the object does not exist
When on the blower model, then determine the object for barrier.
In the present embodiment, the object is judged according to the location information of the object when detecting an object in the present invention
Whether it is located at blower model, into the object that can be excluded on the blower, avoids the warning message for issuing mistake.
In the present embodiment, a sound insulation is provided between each sonar module and the driving motor of the unmanned plane
Plate, the soundproof plate are used to completely cut off the noise that the driving motor of the unmanned plane generates；
The soundproof plate is in horn-like, on the inside of smaller one end of internal diameter that the soundproof plate is arranged in the sonar module.Institute
Soundproof plate is stated to be made of foamed material.
Fig. 5 is to carry out the step flow chart that blade automatically tracks detection method by solid-state radar in the present invention, such as Fig. 5 institute
Show, the step S104 includes the following steps:
Step S1041: it controls the unmanned plane and is carried out from the one side of the blade from leaf along the detection flight path
Sharp region to base region flies from base region to tip region and passes through the solid-state radar pair being arranged on the unmanned plane
Target blade is detected；
Step S1042: when the solid-state radar detects the blade, the shape in the detection visual field of the solid-state radar
At the corresponding blade point cloud chart of a leaf area on the blade；
Step S1043: described towards making by the detection mouth of solid-state radar described in the cradle head control on the unmanned plane
Blade point cloud chart is located on the detection visual field in preset position section；
Step S1044: with the unmanned plane during flying, step S1042 to S1043 is repeated, is realized by described solid
State radar is tracked detection to the blade.
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 executing step
S403, step S404.
Fig. 6 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 fig. 6, the step S1043 includes the following steps:
Step M1: it adjusts the holder and makes a side of the blade point cloud chart apart from the preset position section
One side is less than the first pre-determined distance；
Step M2: when the movement with the unmanned plane, a side of the blade point cloud chart is moved to described preset
The distance when side of one side of position section and apart from preset one side of position section be greater than described first it is default away from
From when, adjust the holder and the detection visual field of the solid-state radar moved up；
Step M3: when the movement with the unmanned plane, the blade point cloud chart is moved to the preset position section
When distance when the other side of one side and apart from preset one side of position section is greater than first pre-determined distance, adjust
The whole holder moves down the detection visual field of the solid-state radar.
In the present embodiment, the present invention is made by the detection mouth direction of the cradle head control solid-state radar on the unmanned plane
The blade point cloud chart formed in the solid-state radar visual field is located on the detection visual field in preset position section, to realize to being placed on
Blade sideslip when tracking realizes the continuous tracing detection of blade.
When Fig. 7 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 7 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. 8 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 8, 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.
The preset position section is to detect between the 30% to 70% of visual field length.When in step S402 to step
In S404, when the solid-state radar detects target blade, pass through the camera continuous acquisition target blade being arranged on unmanned plane
Multiple images.
Fig. 9 is the step flow chart for rebuilding blower model in the present invention according to the point cloud chart of blower, as shown in figure 9, described
Step S102 includes the following steps:
Step S1021: when the unmanned plane is along preset path flight, the blower is acquired by the solid-state radar
Point cloud chart；
Step S1022: the wind wheel plane of the blower, wind tower height, at least are calculated according to the point cloud chart of the blower
The protrusion length at the corresponding wind tower center of the corner and wheel hub of one blade；
Step S1023: according to the wind wheel plane, the wind tower height, an at least blade the corner and wheel hub
Protrusion length relative to wind tower center rebuilds blower model.
In the present embodiment, ENU coordinate system is established by origin of the wind tower central point M, the ENU coordinate system is with station
The heart (such as GPS receiving antenna center) is coordinate origin O, and U axis is overlapped with ellipsoid normal, and be positive (day to) upwards, N axis and ellipsoid
Semi-minor axis is overlapped (north orientation), and E axis is overlapped the rectangular coordinate system that (east orientation) is constituted with the major semiaxis of earth ellipsoid, referred to as local east
Northern day coordinate system (ENU).
The point cloud chart for collecting blade is mapped to NME plane and generates point cloud mapping straight line, described cloud mapping straight line is along U
Axis extends the wind wheel plane for generating the blower；The point cloud chart of the blade is mapped to the wind wheel plane, and then is fitted to a little
Cloud straight line generates the wind tower height with the intersection height of U axis after described cloud rectilinear translation；It is flat according to the wind wheel is calculated
The protrusion length at face wind tower center corresponding with the vertical range of wind tower generation wheel hub；According to described cloud straight line with it is described
The angle in wind wheel planar horizontal direction generates the corner of the blade；According to wind wheel plane, wind tower height, an at least blade turn
The protrusion length at angle and the corresponding wind tower center of wheel hub rebuilds blower model.
Figure 10 is to control the module diagram that unmanned plane carries out fan blade detection system by multisensor in the present invention,
As shown in Figure 10, provided by the invention that unmanned plane progress fan blade detection system is controlled by multisensor, for realizing institute
That states controls unmanned plane progress fan blade detection method by multisensor, comprising:
Flight control modules fly for controlling the unmanned plane being placed on front side of the blower along preset path；
Obstacle detection module, for passing through the space length when the unmanned plane is along the preset path flight
The detection of sensor progress barrier；
Obstacle distance computing module, for calculating institute when the space length sensor detects a barrier
Barrier is stated at a distance from the unmanned plane；
Alarm module, for judging whether the distance is less than preset alarm distance, when the distance is less than or equal to preset
When alarm distance, the unmanned plane alert is controlled.
In the present embodiment, it only needs for unmanned plane to be placed in the present invention on front side of blower, control unmanned plane is along default road
When diameter flight, the detection of barrier is carried out by space length sensor, and small detecting distance of the unmanned plane away from barrier
In be equal to preset alarm apart from when, issue as control unmanned plane hovering warning message, realize unmanned plane it is effective in flight
Avoidance.
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. one kind controls unmanned plane progress fan blade detection method by multisensor, be mounted on the unmanned plane space away from
From sensor, the blower includes wind tower and the impeller that wind tower top is arranged in, and the impeller includes wheel hub and three along wheel hub
Circumferential equally distributed blade, which comprises the steps of:
Step S1: the unmanned plane is placed on front side of the blower, is controlled the unmanned plane and is flown along preset path；
Step S2: when the unmanned plane is along the preset path flight, barrier is carried out by the space length sensor
Detection；
Step S3: when the space length sensor detects a barrier, the barrier and the unmanned plane are calculated
Distance；
Step S4: judging whether the distance is less than preset alarm distance, when the distance be less than or equal to preset alarm apart from when,
Control the unmanned plane alert.
2. according to claim 1 control unmanned plane progress fan blade detection method by multisensor, feature exists
In being mounted with an airborne computer and camera on the unmanned plane；
The space length sensor includes any one of solid-state radar, sonar module and time-of-flight sensor or appoints more
Kind；
The sonar module, the time-of-flight sensor, the camera and the solid-state radar are electrically connected the airborne computer.
3. according to claim 2 control unmanned plane progress fan blade detection method by multisensor, feature exists
In the step S1 includes the following steps:
Step S101: the unmanned plane is placed on front side of blower, so that the wind tower is located at the detection model of the solid-state radar
It encloses, and then controls the unmanned plane and fly along preset path；
Step S102: when the unmanned plane is along preset path flight, the point cloud of the blower is acquired by the solid-state radar
Figure, and then blower model is rebuild according to the point cloud chart of the blower；
Step S103: in the blower model, multiple path points, root are set in the front side of each blade and/or rear side
Detection flight path is formed according to the path point；
Step S104: it controls the unmanned plane and flies along the detection flight path, by the solid-state radar to the blade
It is tracked the image for detecting and acquiring the blade detected by the camera.
4. according to claim 3 control unmanned plane progress fan blade detection method by multisensor, feature exists
In the step S2 includes the following steps:
Step S201: when the unmanned plane flies along the preset path and/or when the detection flight path flight, passes through institute
It states space length sensor and detects an object；
Step S202: according to the position of the unmanned plane, the space length sensor for detecting the object direction with
And the distance between the calculated unmanned plane and the object generate the location information of the object；
Step S203: judging whether the location information of the object is located on the blower model, when the position of the object is believed
When breath is located on the blower model, then determine that the object is not barrier, when the location information of the object is not described
When on blower model, then determine the object for barrier.
5. according to claim 1 control unmanned plane progress fan blade detection method by multisensor, feature exists
In being provided with a soundproof plate between each sonar module and the driving motor of the unmanned plane, the soundproof plate is used for
Completely cut off the noise that the driving motor of the unmanned plane generates；
The soundproof plate is in horn-like, on the inside of smaller one end of internal diameter that the soundproof plate is arranged in the sonar module.
6. according to claim 1 control unmanned plane progress fan blade detection method by multisensor, feature exists
In the warning message includes following any or appoints much information:
Control the control information of unmanned plane hovering；
Control the control information that unmanned plane issues alarm sound；
Control the control information of alarm lamp flashing on unmanned plane.
7. according to claim 3 control unmanned plane progress fan blade detection method by multisensor, feature exists
In the step S104 includes the following steps:
Step S1041: it controls the unmanned plane and is carried out from the one side of the blade from blade tip area along the detection flight path
Domain to base region is flown and the solid-state radar by being arranged on the unmanned plane is to target from base region to tip region
Blade is detected；
Step S1042: when the solid-state radar detects the blade, institute is formed in the detection visual field of the solid-state radar
State the corresponding blade point cloud chart of a leaf area on blade；
Step S1043: the blade is made by the detection mouth direction of solid-state radar described in the cradle head control on the unmanned plane
Point cloud chart is located on the detection visual field in preset position section；
Step S1044: with the unmanned plane during flying, step S1042 to S1043 is repeated, realization passes through the solid-state thunder
Detection is tracked up to the blade.
8. according to claim 7 control unmanned plane progress fan blade detection method by multisensor, feature exists
In the step S1043 includes the following steps:
Step M1: the side that the holder makes a side of the blade point cloud chart apart from the preset position section is adjusted
End is less than the first pre-determined distance；
Step M2: when the movement with the unmanned plane, a side of the blade point cloud chart is moved to the preset position
When distance when the side of one side of section and apart from preset one side of position section is greater than first pre-determined distance,
Adjusting the holder moves up the detection visual field of the solid-state radar；
Step M3: when the movement with the unmanned plane, the blade point cloud chart is moved to the preset position section side
When distance when the other side at end and apart from preset one side of position section is greater than first pre-determined distance, institute is adjusted
Stating holder moves down the detection visual field of the solid-state radar.
9. according to claim 7 control unmanned plane progress fan blade detection method by multisensor, feature exists
In the step S102 includes the following steps:
Step S1021: when the unmanned plane is along preset path flight, the point cloud of the blower is acquired by the solid-state radar
Figure；
Step S1022: wind wheel plane, wind tower height, at least leaf of the blower are calculated according to the point cloud chart of the blower
The protrusion length at the corresponding wind tower center of the corner and wheel hub of piece；
Step S1023: opposite according to the wind wheel plane, the wind tower height, the corner of an at least blade and wheel hub
Protrusion length in wind tower center rebuilds blower model.
10. a kind of control unmanned plane progress fan blade detection system by multisensor, which is characterized in that for realizing right
It is required that 1 to 9 it is described in any item pass through multisensor control unmanned plane carry out fan blade detection method, comprising:
Flight control modules fly for controlling the unmanned plane being placed on front side of the blower along preset path；
Obstacle detection module, for being sensed by the space length when the unmanned plane is along the preset path flight
The detection of device progress barrier；
Obstacle distance computing module, for calculating the barrier when the space length sensor detects a barrier
Hinder object at a distance from the unmanned plane；
Alarm module, for judging whether the distance is less than preset alarm distance, when the distance is less than or equal to preset alarm
Apart from when, control the unmanned plane alert.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810906932.0A CN109162879A (en) | 2018-08-10 | 2018-08-10 | Unmanned plane, which is controlled, by multisensor carries out fan blade detection method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810906932.0A CN109162879A (en) | 2018-08-10 | 2018-08-10 | Unmanned plane, which is controlled, by multisensor carries out fan blade detection method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109162879A true CN109162879A (en) | 2019-01-08 |
Family
ID=64895418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810906932.0A Pending CN109162879A (en) | 2018-08-10 | 2018-08-10 | Unmanned plane, which is controlled, by multisensor carries out fan blade detection method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109162879A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110471447A (en) * | 2019-08-27 | 2019-11-19 | 无锡风电设计研究院有限公司 | The method for inspecting and system of wind energy conversion system |
| CN113586360A (en) * | 2021-05-25 | 2021-11-02 | 深圳创动科技有限公司 | Fan detection method, detection device, detection system and readable storage medium |
| CN115791796A (en) * | 2022-11-29 | 2023-03-14 | 成都睿铂科技有限责任公司 | Unmanned aerial vehicle-based wind driven generator inspection method and device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3037840A1 (en) * | 2014-12-23 | 2016-06-29 | Thales Holdings UK Plc | Wind turbine rejection in non-scanning radar |
| US9453500B2 (en) * | 2013-03-15 | 2016-09-27 | Digital Wind Systems, Inc. | Method and apparatus for remote feature measurement in distorted images |
| CN106645205A (en) * | 2017-02-24 | 2017-05-10 | 武汉大学 | Unmanned aerial vehicle bridge bottom surface crack detection method and system |
| CN106762451A (en) * | 2016-12-05 | 2017-05-31 | 北京金风科创风电设备有限公司 | Fan blade damage detection method, device and system based on unmanned aerial vehicle |
| CN107368095A (en) * | 2017-08-29 | 2017-11-21 | 中国人民解放军国防科技大学 | Air anti-collision system and method for small-sized fixed-wing unmanned aerial vehicle |
| CN108087208A (en) * | 2016-11-21 | 2018-05-29 | 北京金风科创风电设备有限公司 | Wind generator set blade follower method and device based on unmanned plane |
| CN207488516U (en) * | 2017-09-22 | 2018-06-12 | 中国船舶重工集团公司第七一九研究所 | A kind of underwater acousto-optic linkage detection device for being applicable in Yu Haiyang nuclear power platform |
-
2018
- 2018-08-10 CN CN201810906932.0A patent/CN109162879A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9453500B2 (en) * | 2013-03-15 | 2016-09-27 | Digital Wind Systems, Inc. | Method and apparatus for remote feature measurement in distorted images |
| EP3037840A1 (en) * | 2014-12-23 | 2016-06-29 | Thales Holdings UK Plc | Wind turbine rejection in non-scanning radar |
| CN108087208A (en) * | 2016-11-21 | 2018-05-29 | 北京金风科创风电设备有限公司 | Wind generator set blade follower method and device based on unmanned plane |
| CN106762451A (en) * | 2016-12-05 | 2017-05-31 | 北京金风科创风电设备有限公司 | Fan blade damage detection method, device and system based on unmanned aerial vehicle |
| CN106645205A (en) * | 2017-02-24 | 2017-05-10 | 武汉大学 | Unmanned aerial vehicle bridge bottom surface crack detection method and system |
| CN107368095A (en) * | 2017-08-29 | 2017-11-21 | 中国人民解放军国防科技大学 | Air anti-collision system and method for small-sized fixed-wing unmanned aerial vehicle |
| CN207488516U (en) * | 2017-09-22 | 2018-06-12 | 中国船舶重工集团公司第七一九研究所 | A kind of underwater acousto-optic linkage detection device for being applicable in Yu Haiyang nuclear power platform |
Non-Patent Citations (1)
| Title |
|---|
| 谢宏全等: "《地面三维激光扫描技术与应用"》", 28 February 2016, 武汉大学出版社 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110471447A (en) * | 2019-08-27 | 2019-11-19 | 无锡风电设计研究院有限公司 | The method for inspecting and system of wind energy conversion system |
| CN113586360A (en) * | 2021-05-25 | 2021-11-02 | 深圳创动科技有限公司 | Fan detection method, detection device, detection system and readable storage medium |
| CN115791796A (en) * | 2022-11-29 | 2023-03-14 | 成都睿铂科技有限责任公司 | Unmanned aerial vehicle-based wind driven generator inspection method and device |
| CN115791796B (en) * | 2022-11-29 | 2024-09-17 | 成都睿铂科技有限责任公司 | Unmanned aerial vehicle-based wind driven generator inspection method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108757345A (en) | The automatic tracking detection method and system of fan blade are carried out by unmanned plane | |
| CN109162879A (en) | Unmanned plane, which is controlled, by multisensor carries out fan blade detection method and system | |
| CN109062233A (en) | A kind of power transmission line unmanned machine automatic drive method for inspecting | |
| CN112648150B (en) | Detection method for blade clearance value of wind driven generator set based on 77GHz millimeter wave radar | |
| CN105484938B (en) | Yaw control method and device of wind generating set | |
| CN109031312B (en) | Flight platform positioning device and positioning method suitable for chimney internal operation | |
| CN106762451A (en) | Fan blade damage detection method, device and system based on unmanned aerial vehicle | |
| CN108869197B (en) | Method and system for accurately measuring height of fan through unmanned aerial vehicle | |
| CN109190186B (en) | Automatic reconstruction method and system for fan model through unmanned aerial vehicle | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN108869196B (en) | Method and system for detecting rear side blade root area of fan through unmanned aerial vehicle | |
| CN105045276A (en) | Method and apparatus for controlling flight of unmanned plane | |
| CN109555654A (en) | Blade based on blower model reconstruction automatically tracks detection method and system | |
| CN116295313B (en) | Real-time positioning system of heading machine | |
| Guo et al. | Detecting and positioning of wind turbine blade tips for uav-based automatic inspection | |
| CN113915076B (en) | Fan clearance early warning method based on millimeter wave radar | |
| CN109407112A (en) | Top fruit sprayer volume measuring method and system based on LiDAR point cloud data | |
| CN111812659A (en) | Iron tower posture early warning device and method based on image recognition and laser ranging | |
| CN207020537U (en) | A kind of unmanned plane | |
| CN106154271A (en) | A kind of bank base universal class type atmospheric duct monitoring device | |
| JP7538951B2 (en) | Method and system for object detection - Patents.com | |
| CN110726851A (en) | Method for measuring and calculating wind speed by using rotor unmanned aerial vehicle | |
| CN202817605U (en) | UAV routing-inspection line corridor device based on millimeter-wave radar | |
| CN212623088U (en) | Iron tower attitude early warning device based on image recognition and laser ranging | |
| CN206710892U (en) | Unmanned plane multiple remote avoidance obstacle device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190108 |
|
| RJ01 | Rejection of invention patent application after publication |