CN110007690A - A kind of unmanned plane cruising inspection system and method - Google Patents
A kind of unmanned plane cruising inspection system and method Download PDFInfo
- Publication number
- CN110007690A CN110007690A CN201910380602.7A CN201910380602A CN110007690A CN 110007690 A CN110007690 A CN 110007690A CN 201910380602 A CN201910380602 A CN 201910380602A CN 110007690 A CN110007690 A CN 110007690A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- earth station
- shooting
- flight
- inspection
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
A kind of unmanned plane cruising inspection system of the present invention and method are related to a kind of for carrying out the UAV system and method for inspecting of inspection to wind-driven generator.Its purpose is to a kind of to provide that inspection result is accurate, work efficiency is high, safety is good a kind of unmanned plane cruising inspection system and methods.The present invention includes earth station and UAV system, UAV system includes drone body, equipped with flight control system in drone body, holder, zoom camera, GPS system, range radar, number passes device and figure passes device, flight control system is used to control the state of flight of unmanned plane, it can be communicated wirelessly simultaneously with earth station, holder is used for the angle and stability shot when promoting unmanned plane during flying, the zoom camera is for shooting specified point, GPS system is used to provide positioning in real time to unmanned plane, range radar for measure unmanned plane between measured object at a distance from, number passes the picture that device is used for coordinate data and shooting when running unmanned plane with figure biography device and passes earth station back.
Description
Technical field
The present invention relates to a kind of air vehicle technique fields, more particularly to a kind of for carrying out inspection to wind-driven generator
Unmanned plane cruising inspection system and method.
Background technique
Wind energy is an important directions of human future energy development, wind energy as a kind of free of contamination renewable resource
Need to use wind-driven generator in power generation process, the working principle of wind-driven generator is fairly simple, and wind wheel is under the action of the forces of the wind
Rotation, the kinetic energy of wind are changed into the mechanical energy of rotor shaft, generator rotary electrification under the drive of rotor shaft.Wind-driven generator exists
After a period of use it is generally necessary to carry out maintenance and inspection to equipment, and the equipment volume of wind-driven generator on the ground compares
Greatly, the efficiency for manually carrying out inspection is very low, and there are some potential safety problemss.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of inspection results accurately, one that work efficiency is high, safety is good
Kind unmanned plane cruising inspection system and method.
A kind of unmanned plane cruising inspection system of the present invention, including earth station and UAV system, the earth station for calculating and
Data are arranged, while being communicated wirelessly with unmanned plane, the UAV system includes drone body, is taken in drone body
It is loaded with flight control system, holder, zoom camera, GPS system, range radar, number and passes device and figure biography device, the flight control
System processed is used to control the state of flight of unmanned plane, while can communicate wirelessly with earth station, and the holder is for being promoted
The angle and stability shot when unmanned plane during flying, the zoom camera for shooting to specified point, use by the GPS system
In give unmanned plane provide in real time positioning, the range radar for measure unmanned plane between measured object at a distance from, it is described number pass dress
It sets and schemes picture of the biography device for coordinate data and shooting when running unmanned plane and pass earth station back.
A kind of unmanned plane cruising inspection system of the present invention, wherein safety control strategy is built-in in the flight control system, institute
Safety control strategy is stated for evading the risk that unmanned plane collides.
A kind of unmanned plane cruising inspection system of the present invention, wherein the GPS system is differential global positioning system.
A kind of unmanned plane method for inspecting of the present invention, comprising the following steps:
A. the general image for shooting tested blower using high definition camera on ground, is transmitted to earth station for image information；
B. pitching correction process is carried out to image information, so that it becomes the image at blower front visual angle；
C. the azimuth at fan blade center and the angle of fan blade and wind tower are calculated according to the image after correction；
D. the curvilinear equation at fan blade edge is calculated according to the image after correction；
E. the curvilinear equation at fan blade edge is subjected to sliding-model control, generates several discrete coordinates；
F. the flight path of unmanned plane is calculated using data obtained in step c, d, e；
G. earth station sends flight path data obtained in step f to the flight control system of unmanned plane；
H. operator assigns instruction of taking off, and unmanned plane is flown and shot according to flight path obtained in step g,
The coordinate data of shooting point is recorded simultaneously, and passes image and data back earth station；
I. after the shooting work of fixed route, the automatic strategy that makes a return voyage of unmanned plane starting, inspection process terminates.
A kind of unmanned plane method for inspecting of the present invention, wherein being built-in with security control in the flight control system of the unmanned plane
Strategy, cooperation range radar are used in conjunction with, and the range radar calculates between unmanned plane and measured object during unmanned plane during flying
Distance, when distance is less than secure threshold, safety control strategy starting, unmanned plane will suspend inspection, waiting operation personnel's
Further instruction.
A kind of unmanned plane method for inspecting of the present invention, wherein the unmanned plane needs to carry out self-test before take-off.
A kind of unmanned plane method for inspecting of the present invention, wherein the image of unmanned plane shooting and coordinate data pass through unmanned plane
The figure of upper carrying passes device sum number biography device and passes earth station back.
A kind of unmanned plane method for inspecting difference from prior art of the present invention is a kind of unmanned plane inspection side of the present invention
Method carries out inspection using UAV system tie surface station, overcomes manual inspection low efficiency and the low problem of safety, passes through
Unmanned plane closely shooting to fan blade can accurately grasp the working condition of blade in earth station.Data are by analysis
And the precision after comparison is also higher, the inspection result of acquisition is also more accurate.Unmanned plane cooperation holder may be implemented multi-angle,
It checks on a large scale, avoids the occurrence of inspection dead angle, routing inspection efficiency height, significantly mitigation staff's inspection burden, do not need artificial
Inspection, safety are also improved.
Specific embodiment
A kind of unmanned plane method for inspecting of the present invention needs to carry out inspection to blade of wind-driven generator using unmanned plane, for patrolling
The hardware system of inspection includes earth station and UAV system.Earth station carries out for calculating and arranging data, while with unmanned plane
Wireless telecommunications.UAV system includes drone body, equipped with flight control system, holder, zoom phase in drone body
Machine, differential global positioning system, range radar, number pass device and figure passes device.Wherein flight control system is used to control flying for unmanned plane
Row state, while can be communicated wirelessly with earth station, safety control strategy is built-in in flight control system.Work as unmanned plane
When in unsafe condition, safety control strategy can control unmanned plane and stop intended service state, wait ground handling operator's
Further instruction.Holder is used for the angle and stability shot when promoting unmanned plane during flying.Zoom camera is used for specified click-through
Row shooting.Differential global positioning system is used to provide positioning in real time to unmanned plane.Range radar is for measuring between unmanned plane and measured object
Distance.Number passes the picture that device is used for coordinate data and shooting when running unmanned plane with figure biography device and passes earth station back.
A kind of unmanned plane method for inspecting of the present invention specifically includes the following steps:
(1) general image for shooting tested blower using high definition camera on ground, is transmitted to earth station for image information；
(2) pitching correction process is carried out to image information, so that it becomes the image at blower front visual angle；
(3) azimuth angle alpha at fan blade center and the angle β of fan blade and wind tower are calculated according to the image after correction；
(4) curvilinear equation at fan blade edge is calculated according to the image after correction；
(5) curvilinear equation at fan blade edge is subjected to sliding-model control, generates several discrete coordinates；
(6) by step (3)~(5) obtain azimuth angle alpha and angle β and discrete coordinates calculate flying for unmanned plane
Row track；
(7) earth station controls flight path data obtained in step (6) by being wirelessly transmitted to the flight of unmanned plane
System；
(8) self-test before unmanned plane is taken off is assigned the finger that takes off by operator after confirmation unmanned plane self-test is errorless
It enables, unmanned plane will be flown and be shot according to flight path obtained in step (6), while record the number of coordinates of shooting point
According to passing device by number and figure pass device and passes data and image back earth station；
(9) after the shooting work of fixed route, the automatic strategy that makes a return voyage of unmanned plane starting, inspection process terminates.
Security control is built-in in the flight control system of unmanned plane used in a kind of unmanned plane method for inspecting of the present invention
Strategy, cooperation range radar are used in conjunction with.Unmanned plane can calculate unmanned plane and tested wind by range radar in flight course
The distance of machine, unmanned plane in actual use, have gust disturbance, electromagnetic interference, GPS losing lock, communication line interrupt, it is low
When the fortuitous events such as voltage occur, unmanned plane may off-track.When this occurs, once unmanned plane and tested wind
The distance of machine is less than secure threshold, and unmanned plane will start safety control strategy.After safety control strategy starting, unmanned plane will be temporary
Stop inspection, after being confirmed by ground handling operator, sends and continue inspection instruction or make a return voyage to instruct to flight control system, unmanned plane
It will continue to fly according to subsequent instructions.
When unmanned plane carries out inspection, operator is located in earth station, can monitor the state of flight of unmanned plane, and
Check acquired image and coordinate data.
A kind of unmanned plane method for inspecting of the present invention carries out inspection using UAV system tie surface station, overcomes and manually patrols
Low efficiency and the low problem of safety are examined, the closely shooting to fan blade, can accurately slap in earth station by unmanned plane
Hold the working condition of blade.Precision of the data by analysis and after comparison is also higher, and the inspection result of acquisition is also more accurate.
Unmanned plane cooperation holder may be implemented multi-angle, check on a large scale, avoids the occurrence of inspection dead angle, routing inspection efficiency height, subtracts significantly
Light work personnel's inspection burden, does not need manual inspection, safety is also improved.
Embodiment described above only describe the preferred embodiments of the invention, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made should all be fallen into the protection scope that claims of the present invention determines.
Claims (7)
1. a kind of unmanned plane cruising inspection system, it is characterised in that: including earth station and UAV system, the earth station is for calculating
With arrange data, while being communicated wirelessly with unmanned plane, the UAV system includes drone body, in drone body
Device is passed equipped with flight control system, holder, zoom camera, GPS system, range radar, number and figure passes device, the flight
Control system is used to control the state of flight of unmanned plane, while can communicate wirelessly with earth station, and the holder is for mentioning
The angle and stability shot when rising unmanned plane during flying, the zoom camera is for shooting specified point, the GPS system
For give unmanned plane provide in real time positioning, the range radar for measure unmanned plane between measured object at a distance from, it is described number pass
Device and figure pass picture of the device for coordinate data and shooting when running unmanned plane and pass earth station back.
2. a kind of unmanned plane cruising inspection system according to claim 1, it is characterised in that: built-in in the flight control system
There is safety control strategy, the safety control strategy is for evading the risk that unmanned plane collides.
3. a kind of unmanned plane cruising inspection system according to claim 1 or 2, it is characterised in that: the GPS system is difference
GPS system.
4. a kind of unmanned plane method for inspecting, it is characterised in that: the following steps are included:
A. the general image for shooting tested blower using high definition camera on ground, is transmitted to earth station for image information；
B. pitching correction process is carried out to image information, so that it becomes the image at blower front visual angle；
C. the azimuth at fan blade center and the angle of fan blade and wind tower are calculated according to the image after correction；
D. the curvilinear equation at fan blade edge is calculated according to the image after correction；
E. the curvilinear equation at fan blade edge is subjected to sliding-model control, generates several discrete coordinates；
F. the flight path of unmanned plane is calculated using data obtained in step c, d, e；
G. earth station sends flight path data obtained in step f to the flight control system of unmanned plane；
H. operator assigns instruction of taking off, and unmanned plane is flown and shot according to flight path obtained in step g, simultaneously
The coordinate data of shooting point is recorded, and passes image and data back earth station；
I. after the shooting work of fixed route, the automatic strategy that makes a return voyage of unmanned plane starting, inspection process terminates.
5. a kind of unmanned plane method for inspecting according to claim 4, it is characterised in that: the flight of the unmanned plane controls system
Safety control strategy is built-in in system, cooperation range radar is used in conjunction with, and the range radar is fallen into a trap in unmanned plane during flying process
Calculate unmanned plane between measured object at a distance from, when distance is less than secure threshold, safety control strategy starting, unmanned plane patrols pause
Inspection, the further instruction of waiting operation personnel.
6. a kind of unmanned plane method for inspecting according to claim 4, it is characterised in that: the unmanned plane needs before take-off
Carry out self-test.
7. a kind of unmanned plane method for inspecting according to claim 4, it is characterised in that: the image of unmanned plane shooting and
Coordinate data passes device sum number biography device by the figure carried on unmanned plane and passes earth station back.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910380602.7A CN110007690A (en) | 2019-05-08 | 2019-05-08 | A kind of unmanned plane cruising inspection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910380602.7A CN110007690A (en) | 2019-05-08 | 2019-05-08 | A kind of unmanned plane cruising inspection system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110007690A true CN110007690A (en) | 2019-07-12 |
Family
ID=67176246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910380602.7A Pending CN110007690A (en) | 2019-05-08 | 2019-05-08 | A kind of unmanned plane cruising inspection system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110007690A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110351483A (en) * | 2019-08-05 | 2019-10-18 | 深圳职业技术学院 | A kind of adaptive zoom monitoring unmanned platform of more camera lenses and control method |
| CN110866989A (en) * | 2019-12-09 | 2020-03-06 | 浙江顿悟科技有限公司 | Unmanned aerial vehicle-based power system inspection method |
| CN110879601A (en) * | 2019-12-06 | 2020-03-13 | 电子科技大学 | Unmanned aerial vehicle inspection method for unknown fan structure |
| CN111038721A (en) * | 2019-12-30 | 2020-04-21 | 无锡风电设计研究院有限公司 | Wind turbine blade inspection unmanned aerial vehicle and inspection method based on image recognition |
| CN111830845A (en) * | 2020-04-30 | 2020-10-27 | 航天图景（北京）科技有限公司 | Automatic inspection simulation system and method for fan blade of unmanned aerial vehicle |
| CN112887372A (en) * | 2021-01-13 | 2021-06-01 | 京东数科海益信息科技有限公司 | Communication architecture, method, device, equipment and storage medium compatible with data transmission and graph transmission |
| CN112947511A (en) * | 2021-01-25 | 2021-06-11 | 北京京能能源技术研究有限责任公司 | Method for inspecting fan blade by unmanned aerial vehicle |
| CN115597498A (en) * | 2022-12-13 | 2023-01-13 | 成都铂贝科技有限公司（Cn） | Unmanned aerial vehicle positioning and speed estimation method |
| CN116573175A (en) * | 2023-04-25 | 2023-08-11 | 交通运输部南海航海保障中心三沙航标处 | Lighthouse pull distance testing system and lighthouse pull distance testing method based on unmanned aerial vehicle technology |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110090110A1 (en) * | 2010-11-30 | 2011-04-21 | General Electric Company | System and method for inspecting a wind turbine blade |
| CN105203315A (en) * | 2015-10-20 | 2015-12-30 | 华北电力大学（保定） | Air blower blade monitoring device arranged on inspection vehicle |
| CN105717934A (en) * | 2016-04-25 | 2016-06-29 | 华北电力大学（保定） | Autonomous unmanned aerial vehicle fan blade polling system and method |
| US20180003161A1 (en) * | 2016-06-30 | 2018-01-04 | Unmanned Innovation, Inc. | Unmanned aerial vehicle wind turbine inspection systems and methods |
| CN207600967U (en) * | 2017-11-29 | 2018-07-10 | 华北电力大学（保定） | A kind of device for wind power plant blade surface defects detection |
| CN108319290A (en) * | 2017-01-16 | 2018-07-24 | 财团法人金属工业研究发展中心 | Utilize the method on unmanned plane shooting wind turbine blade face, the computer program product and medium capable of reading record of internally stored program |
| CN108733079A (en) * | 2018-06-19 | 2018-11-02 | 上海扩博智能技术有限公司 | Automatic detecting flight path is carried out to wind turbine by unmanned plane and determines method and system |
| CN109459446A (en) * | 2018-12-29 | 2019-03-12 | 哈尔滨理工大学 | A kind of wind electricity blade image information collecting method based on unmanned plane |
-
2019
- 2019-05-08 CN CN201910380602.7A patent/CN110007690A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110090110A1 (en) * | 2010-11-30 | 2011-04-21 | General Electric Company | System and method for inspecting a wind turbine blade |
| CN105203315A (en) * | 2015-10-20 | 2015-12-30 | 华北电力大学（保定） | Air blower blade monitoring device arranged on inspection vehicle |
| CN105717934A (en) * | 2016-04-25 | 2016-06-29 | 华北电力大学（保定） | Autonomous unmanned aerial vehicle fan blade polling system and method |
| US20180003161A1 (en) * | 2016-06-30 | 2018-01-04 | Unmanned Innovation, Inc. | Unmanned aerial vehicle wind turbine inspection systems and methods |
| CN108319290A (en) * | 2017-01-16 | 2018-07-24 | 财团法人金属工业研究发展中心 | Utilize the method on unmanned plane shooting wind turbine blade face, the computer program product and medium capable of reading record of internally stored program |
| CN207600967U (en) * | 2017-11-29 | 2018-07-10 | 华北电力大学（保定） | A kind of device for wind power plant blade surface defects detection |
| CN108733079A (en) * | 2018-06-19 | 2018-11-02 | 上海扩博智能技术有限公司 | Automatic detecting flight path is carried out to wind turbine by unmanned plane and determines method and system |
| CN109459446A (en) * | 2018-12-29 | 2019-03-12 | 哈尔滨理工大学 | A kind of wind electricity blade image information collecting method based on unmanned plane |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110351483A (en) * | 2019-08-05 | 2019-10-18 | 深圳职业技术学院 | A kind of adaptive zoom monitoring unmanned platform of more camera lenses and control method |
| CN110879601A (en) * | 2019-12-06 | 2020-03-13 | 电子科技大学 | Unmanned aerial vehicle inspection method for unknown fan structure |
| CN110879601B (en) * | 2019-12-06 | 2021-05-18 | 电子科技大学 | Unmanned aerial vehicle inspection method for unknown fan structure |
| CN110866989A (en) * | 2019-12-09 | 2020-03-06 | 浙江顿悟科技有限公司 | Unmanned aerial vehicle-based power system inspection method |
| CN111038721B (en) * | 2019-12-30 | 2023-10-10 | 无锡风电设计研究院有限公司 | Unmanned aerial vehicle for inspecting wind turbine blade based on image recognition and inspection method |
| CN111038721A (en) * | 2019-12-30 | 2020-04-21 | 无锡风电设计研究院有限公司 | Wind turbine blade inspection unmanned aerial vehicle and inspection method based on image recognition |
| CN111830845A (en) * | 2020-04-30 | 2020-10-27 | 航天图景（北京）科技有限公司 | Automatic inspection simulation system and method for fan blade of unmanned aerial vehicle |
| CN112887372A (en) * | 2021-01-13 | 2021-06-01 | 京东数科海益信息科技有限公司 | Communication architecture, method, device, equipment and storage medium compatible with data transmission and graph transmission |
| CN112887372B (en) * | 2021-01-13 | 2023-05-02 | 京东科技信息技术有限公司 | Communication system, method, device, equipment and storage medium compatible with data transmission image transmission |
| CN112947511A (en) * | 2021-01-25 | 2021-06-11 | 北京京能能源技术研究有限责任公司 | Method for inspecting fan blade by unmanned aerial vehicle |
| CN115597498A (en) * | 2022-12-13 | 2023-01-13 | 成都铂贝科技有限公司（Cn） | Unmanned aerial vehicle positioning and speed estimation method |
| CN116573175A (en) * | 2023-04-25 | 2023-08-11 | 交通运输部南海航海保障中心三沙航标处 | Lighthouse pull distance testing system and lighthouse pull distance testing method based on unmanned aerial vehicle technology |
| CN116573175B (en) * | 2023-04-25 | 2024-01-26 | 交通运输部南海航海保障中心三沙航标处 | Lighthouse pull distance testing system and lighthouse pull distance testing method based on unmanned aerial vehicle technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110007690A (en) | A kind of unmanned plane cruising inspection system and method | |
| CN108733079A (en) | Automatic detecting flight path is carried out to wind turbine by unmanned plane and determines method and system | |
| CN110282143B (en) | Inspection method for offshore wind farm unmanned aerial vehicle | |
| CN106762451B (en) | Fan blade damage detection method, device and system based on unmanned aerial vehicle | |
| CN109254303B (en) | Power line corridor rapid inspection system and method based on laser scanning guidance | |
| CN108894933A (en) | With losing method for catching again and system when by unmanned plane to blower blade tip tracing detection | |
| CN111198004A (en) | Electric power inspection information acquisition system based on unmanned aerial vehicle | |
| CN106683097A (en) | Unmanned aerial vehicle positioning method and system | |
| CN108869197B (en) | Method and system for accurately measuring height of fan through unmanned aerial vehicle | |
| CN108757345A (en) | The automatic tracking detection method and system of fan blade are carried out by unmanned plane | |
| CN107608386A (en) | A kind of UAV Navigation System and method based on the distribution of high-voltage line electromagnetism fingerprint | |
| CN108869196B (en) | Method and system for detecting rear side blade root area of fan through unmanned aerial vehicle | |
| CN106950989B (en) | A kind of unmanned plane fixed point location method and system | |
| CN106568441A (en) | Beidou-based electric power patrol inspection device | |
| CN111123973A (en) | Unmanned aerial vehicle line tower patrol guiding system and guiding method | |
| CN109573037A (en) | A kind of power-line patrolling unmanned plane and patrolling method based on VR and multisensor | |
| CN113885580A (en) | Route planning method and system for realizing automatic inspection of fan based on unmanned aerial vehicle | |
| CN106598073A (en) | Quay crane structure detection system based on quadrotor unmanned aerial vehicle | |
| CN109131895A (en) | Unmanned plane carry device, unmanned plane and the method for detection are automatically tracked for blade | |
| CN105892289A (en) | Unmanned aerial vehicle parachute landing recovery method based on accurate measurement of wind field | |
| CN111896794A (en) | Overhead line unmanned aerial vehicle electricity testing method and device | |
| CN109555654A (en) | Blade based on blower model reconstruction automatically tracks detection method and system | |
| CN109563815A (en) | Measured value for wind energy plant detects | |
| CN113778137A (en) | Unmanned aerial vehicle autonomous inspection method for power transmission line | |
| CN113342041A (en) | Method and system for realizing automatic inspection of fan blade power generation equipment by unmanned aerial vehicle |
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: 20190712 |
|
| RJ01 | Rejection of invention patent application after publication |