CN112506214A - Operation flow of autonomous fan inspection system of unmanned aerial vehicle - Google Patents
Operation flow of autonomous fan inspection system of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides an operation flow of an autonomous fan inspection system of an unmanned aerial vehicle, which comprises the steps of reading load data of a fan and the unmanned aerial vehicle, taking off and searching for a heading course planning according to parameters, executing a heading searching task, acquiring a heading and a phase value, performing inspection course planning, monitoring a course of the unmanned aerial vehicle and voltage information of the unmanned aerial vehicle in real time according to a monitoring module, judging whether a waypoint is completely executed, if the unmanned aerial vehicle is insufficient in electric quantity before the task is not executed, returning the way, executing the return flight planning flow of the unmanned aerial vehicle, realizing safe landing of the unmanned aerial vehicle, executing the task, automatically returning the unmanned aerial vehicle, safely landing, not executing the task, executing an original task after finishing the return flight of the unmanned aerial vehicle, reading the course of the last task and an index of the executed waypoint, performing a breakpoint continuation course planning flow. The invention can be adapted to various unmanned aerial vehicles, improves the inspection efficiency of the wind turbine generator, reduces the requirements on inspection personnel, and realizes intelligent and unmanned inspection of the wind turbine generator.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle fan inspection, and particularly relates to an operation process of an autonomous fan inspection system of an unmanned aerial vehicle.
Background
With the development of economy, the demand of energy is increasing rapidly, and wind energy is a new energy which becomes the third largest energy after coal power and water power. With the development of the wind power market, the maintenance and maintenance input cost of the wind driven generator is also sharply increased, the size and the scale of the blades of the wind driven generator are larger and larger, the length of the blades of the wind driven generator is increased from the original 30-40 m to 60-70 m, the service life of the blades can reach 30 years, the increase of the length of the wind driven generator and the increase of the service life of the blades of the wind driven generator bring great challenges to the operation and maintenance of the wind driven generator.
In order to ensure the stable operation of the wind turbine generator and the power generation quality, the wind power plant needs to regularly perform daily inspection, overhaul and maintenance on the fan. Wind power plants are generally established in mountainous areas, suburbs and offshore areas, the environment is severe, the regions are remote, equipment is scattered, and various faults can not be rapidly and efficiently checked and solved. At present, most wind power companies still use a traditional manual inspection mode, the traditional inspection mode of the fan and wind power generation set mainly depends on inspection personnel to perform on-site inspection by utilizing equipment such as a telescope, a spider man, a hanging basket and a square-shaped platform, whether abnormal conditions exist or not is judged by experience, the workload is large, the cost is high, potential safety hazards exist, and the detection efficiency and quality cannot be guaranteed. Besides manual detection, some wind power companies utilize various sensors for detection, but the efficiency and quality of detection cannot be guaranteed. Along with the application of unmanned aerial vehicle technique in each trade, a small number of companies are also patrolling and examining using unmanned aerial vehicle, but mainly adopt manual operation unmanned aerial vehicle to patrol and examine at present, though personnel's potential safety hazard has been reduced, but the requirement to unmanned aerial vehicle operation hand is very high, need master the ability that unmanned aerial vehicle flies outside, still need have abundant understanding to wind turbine generator system's constitution and part, nevertheless because wind turbine generator system is bulky, the shape is irregular, the efficiency that manual operation unmanned aerial vehicle patrolled and examined is lower, only can patrol and examine a wind turbine generator system for a single frame, the field work load is big.
Therefore, develop an unmanned aerial vehicle system of independently patrolling and examining, many types of unmanned aerial vehicle of adaptation improves wind turbine generator system's efficiency of patrolling and examining, reduces the requirement to patrolling and examining personnel, and it is very necessary to realize that intelligent, the unmanned of wind turbine generator system patrols and examines.
Disclosure of Invention
In view of this, the invention aims to provide an operation flow of an autonomous fan inspection system for an unmanned aerial vehicle, so as to solve the problem that the unmanned aerial vehicle cannot autonomously inspect the fan.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the utility model provides an unmanned aerial vehicle is from activity flow of fan system of patrolling and examining, includes following step:
s1, taking off and finding a facing route planning process; reading load parameters of a built-in fan and an unmanned aerial vehicle, automatically loading a flight path for taking off and finding an orientation according to the load parameters, simulating the loaded flight path, guiding the flight path into the unmanned aerial vehicle after confirming the safety of the flight path, taking off by one key, and executing an orientation finding task;
s2, routing inspection route planning process; transmitting the orientation and phase value parameters obtained from the fan, load and orientation searching task read in the step S1 to a route generation module, automatically loading a route for inspection according to the parameters, simulating the loaded route, inputting a waypoint into a pre-judgment illumination check module after confirming the safety of the route, performing illumination pre-judgment check, detecting whether the whole route is suitable for photographing or not, and giving a prompt;
s3, planning a return route; when the unmanned aerial vehicle executes the polling task in the step S2, monitoring the route and the voltage information in real time according to the task monitoring module, judging whether the electric quantity of the unmanned aerial vehicle is insufficient, and if the electric quantity is insufficient, planning a return route and returning the unmanned aerial vehicle; if the electric quantity is sufficient, continuing to execute the polling task;
s4, a breakpoint continuation flight path planning process; and step S3, after the unmanned aerial vehicle navigates back, the unmanned aerial vehicle is stopped, the last inspection task is continued, the air route of the last task and the executed waypoint index are read, the breakpoint cruising air route planning flow is carried out, the subsequent task is executed, after the task is executed, the image stored by the airborne terminal camera is copied and input to the defect identification system, the defect of the fan blade is identified, and after the task is executed, the unmanned aerial vehicle automatically navigates back and lands safely.
Further, the orientation finding task in step S1 includes:
identifying a hub according to video data transmitted back by the unmanned aerial vehicle in real time, synchronously plotting and displaying in a video display area after the hub is identified, inputting an identified hub area image into an orientation identification module, and outputting a probability value, wherein the maximum value of the probability value is the moment of the front face of the fan in the whole air route;
according to the remote measurement value synchronously stored, the unmanned aerial vehicle GPS at the moment with the maximum probability value is output in an iterative mode, and the orientation value of the fan relative to the unmanned aerial vehicle is calculated;
the method comprises the steps of identifying the front sides of a hub and the hub in real time according to a video frame returned in real time, identifying the center of the hub, automatically identifying the phase after manual confirmation, identifying the phase of the current fan blade relative to a tower drum, inputting the video frame at the moment with the maximum probability value into a phase identification module, calculating the phase value of the fan blade relative to the tower drum, and storing the calculated orientation value and the calculated phase value into a database to be used as the parameter input of next inspection.
Further, the routing inspection route planning process in the step S2 includes: pre-judging and detecting the photographing condition in the whole inspection process according to the loaded inspection route, detecting whether the whole route is suitable for photographing or not, and giving a prompt; after the whole route is suitable for photographing, the route is led out and injected into the unmanned aerial vehicle, and after the unmanned aerial vehicle control system receives an instruction, the unmanned aerial vehicle is controlled to fly according to a conventional route to execute an inspection task from a hovering state; the camera carries out timing shooting according to a shooting instruction injected by a waypoint, discretely frames according to returned video data in the whole task process for illumination check, records waypoint indexes at the moment of insufficient illumination or over-strong illumination, guides an operator to shoot the waypoint and the area nearby the waypoint again, and improves the efficiency.
Further, the planning process of the return route in step S3 is as follows: if the electric quantity of the unmanned aerial vehicle is insufficient, a hovering instruction is sent to the unmanned aerial vehicle, the unmanned aerial vehicle is forced to hover, the waypoint index at the moment is recorded and stored in a database, a return route is planned, the route is injected into the unmanned aerial vehicle, and the unmanned aerial vehicle safely lands according to the return route.
Further, in step S4, the patrol inspection waypoint and the waypoint index data executed last time are read, a breakpoint cruising route is generated through the breakpoint cruising module, the route is simulated, after the safety of the route is confirmed, the waypoint is input into the pre-judgment illumination check module, the pre-judgment check of light is performed, the route is guided out after the whole route is suitable for photographing, the waypoint is injected into the unmanned aerial vehicle, the unmanned aerial vehicle control system controls the unmanned aerial vehicle to take off one key to execute the patrol inspection task after receiving the instruction, the camera performs timing photographing according to the photographing instruction injected by the waypoint, in the whole task process, the illumination check is performed by discretely drawing frames according to the returned video data, the waypoint index at the moment of insufficient illumination or over-strong illumination is recorded, and the operator is guided to perform re-photographing on the waypoint and the area nearby the waypoint, so that the photographing efficiency is improved.
Compared with the prior art, the operation process of the autonomous fan inspection system of the unmanned aerial vehicle has the following advantages:
(1) according to the operation flow of the autonomous fan inspection system of the unmanned aerial vehicle, the direction of an impeller and the phase of a blade relative to a tower barrel are obtained by means of an impeller center, a direction identification module and a phase identification module through fan coordinates and real-time video data, automatic planning of a route is performed by means of the obtained data, whether the planned route has a photographing condition is detected by means of an automatic photographing technology based on the illumination condition, the load state is finely adjusted through sensing external factors such as light and the like in the flying process, an inspection target is kept in the center of a visual field all the time, and inspection of the whole fan is completed;
(2) according to the operation process of the unmanned aerial vehicle autonomous fan inspection system, whether light is suitable for photographing or not is detected by the illumination checking module, and an operator is guided to perform timely rephotography on the photographed part of an image with quality problems in the same flight frame, so that the operation efficiency is greatly improved;
(3) according to the operation process of the autonomous fan inspection system of the unmanned aerial vehicle, the air route planning can be carried out according to multi-dimensional characteristics such as target types, blade pre-bending angles, safe distances and the like because the shapes and the sizes of fan equipment have great difference.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow diagram of an autonomous inspection system for an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of a takeoff and heading finding workflow according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a patrol route planning workflow according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a return working process of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 5 is a schematic diagram of a breakpoint cruising workflow of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 5, an operation flow of the autonomous fan inspection system for the unmanned aerial vehicle includes the following steps:
s1, taking off and finding a facing route planning process; reading load parameters of a built-in fan and an unmanned aerial vehicle, automatically loading a flight path for taking off and finding an orientation according to the load parameters, simulating the loaded flight path, guiding the flight path into the unmanned aerial vehicle after confirming the safety of the flight path, taking off by one key, and executing an orientation finding task;
s2, routing inspection route planning process; transmitting the orientation and phase value parameters obtained from the fan, load and orientation searching task read in the step S1 to a route generation module, automatically loading a route for inspection according to the parameters, simulating the loaded route, inputting a waypoint into a pre-judgment illumination check module after confirming the safety of the route, performing illumination pre-judgment check, detecting whether the whole route is suitable for photographing or not, and giving a prompt;
s3, planning a return route; when the unmanned aerial vehicle executes the polling task in the step S2, monitoring the route and the voltage information in real time according to the task monitoring module, judging whether the electric quantity of the unmanned aerial vehicle is insufficient, and if the electric quantity is insufficient, planning a return route and returning the unmanned aerial vehicle; if the electric quantity is sufficient, continuing to execute the polling task;
s4, a breakpoint continuation flight path planning process; and step S3, after the unmanned aerial vehicle navigates back, the unmanned aerial vehicle is stopped, the last inspection task is continued, the air route of the last task and the executed waypoint index are read, the breakpoint cruising air route planning flow is carried out, the subsequent task is executed, after the task is executed, the image stored by the airborne terminal camera is copied and input to the defect identification system, the defect of the fan blade is identified, and after the task is executed, the unmanned aerial vehicle automatically navigates back and lands safely.
The orientation finding task in step S1 includes:
identifying a hub according to video data transmitted back by the unmanned aerial vehicle in real time, synchronously plotting and displaying in a video display area after the hub is identified, inputting an identified hub area image into an orientation identification module, and outputting a probability value, wherein the maximum value of the probability value is the moment of the front face of the fan in the whole air route;
according to the remote measurement value synchronously stored, the unmanned aerial vehicle GPS at the moment with the maximum probability value is output in an iterative mode, and the orientation value of the fan relative to the unmanned aerial vehicle is calculated;
the method comprises the steps of identifying the front sides of a hub and the hub in real time according to a video frame returned in real time, identifying the center of the hub, automatically identifying the phase after manual confirmation, identifying the phase of the current fan blade relative to a tower drum, inputting the video frame at the moment with the maximum probability value into a phase identification module, calculating the phase value of the fan blade relative to the tower drum, and storing the calculated orientation value and the calculated phase value into a database to be used as the parameter input of next inspection.
The routing inspection route planning process in the step S2 comprises the following steps: pre-judging and detecting the photographing condition in the whole inspection process according to the loaded inspection route, detecting whether the whole route is suitable for photographing or not, and giving a prompt; after the whole route is suitable for photographing, the route is led out and injected into the unmanned aerial vehicle, and after the unmanned aerial vehicle control system receives an instruction, the unmanned aerial vehicle is controlled to fly according to a conventional route to execute an inspection task from a hovering state; the camera carries out timing shooting according to a shooting instruction injected by a waypoint, discretely frames according to returned video data in the whole task process for illumination check, records waypoint indexes at the moment of insufficient illumination or over-strong illumination, guides an operator to shoot the waypoint and the area nearby the waypoint again, and improves the efficiency; whether light is suitable for shooting or not is detected by calling the illumination checking module, the operation personnel are guided to shoot the image with quality problems in time to be shot again in the same flying frame, the operation efficiency is greatly improved, and the load state can be finely adjusted and the inspection target can be kept at the center of the visual field through sensing external factors such as light and the like in the flying process.
The planning process of the return route in the step S3 is as follows: if the electric quantity of the unmanned aerial vehicle is insufficient, a hovering instruction is sent to the unmanned aerial vehicle, the unmanned aerial vehicle is forced to hover, the waypoint index at the moment is recorded and stored in a database, a return route is planned, the route is injected into the unmanned aerial vehicle, and the unmanned aerial vehicle safely lands according to the return route.
In the step S4, the patrol inspection waypoint and waypoint index data obtained by last execution are read, a breakpoint cruising route is generated through the breakpoint cruising module, the route is simulated, after the safety of the route is confirmed, the waypoint is input into the pre-judgment illumination check module to perform the pre-judgment check of light, the whole route is suitable for photographing, the waypoint is guided out and injected into the unmanned aerial vehicle, the unmanned aerial vehicle control system receives an instruction to control the unmanned aerial vehicle to take off by one key to execute the patrol inspection task, the camera performs timing photographing according to the photographing instruction injected by the waypoint, in the whole task process, the illumination check is performed by discretely framing according to returned video data, the waypoint index at the moment of insufficient illumination or over-strong illumination is recorded, the operator is guided to photograph the waypoint and the area nearby the waypoint again, and the efficiency is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. The utility model provides an unmanned aerial vehicle is from operation flow of fan system of patrolling and examining which characterized in that includes following step:
s1, carrying out a process of taking off and finding an orientation course; reading load parameters of a built-in fan and an unmanned aerial vehicle, automatically loading a flight path for taking off and finding an orientation according to the load parameters, simulating the loaded flight path, guiding the flight path into the unmanned aerial vehicle after confirming the safety of the flight path, taking off by one key, and executing an orientation finding task;
s2, loading an inspection route flow; transmitting the orientation and phase value parameters obtained from the fan, load and orientation searching task read in the step S1 to a route generation module, automatically loading a route for inspection according to the parameters, simulating the loaded route, inputting a waypoint into a pre-judgment illumination check module after confirming the safety of the route, performing illumination pre-judgment check, detecting whether the whole route is suitable for photographing or not, and giving a prompt;
s3, loading a return route process; when the unmanned aerial vehicle executes the polling task in the step S2, monitoring the route and the voltage information in real time according to the task monitoring module, judging whether the electric quantity of the unmanned aerial vehicle is insufficient, and if the electric quantity is insufficient, planning a return route and returning the unmanned aerial vehicle; if the electric quantity is sufficient, continuing to execute the polling task;
s4, loading a breakpoint cruising route flow; and step S3, after the unmanned aerial vehicle navigates back, the unmanned aerial vehicle is stopped, the last inspection task is continued, the air route of the last task and the executed waypoint index are read, the breakpoint cruising air route flow is loaded, the subsequent task is executed, after the task is executed, the image stored by the airborne terminal is copied and input to the defect identification system, the defect of the fan blade is identified, and after the task is executed, the unmanned aerial vehicle automatically navigates back and lands safely.
2. The operation flow of the unmanned aerial vehicle autonomous fan inspection system according to claim 1, characterized in that: the orientation finding task in step S1 includes:
identifying a hub according to video data transmitted back by the unmanned aerial vehicle in real time, synchronously plotting and displaying in a video display area after the hub is identified, inputting an identified hub area image into an orientation identification module, and outputting a probability value, wherein the maximum value of the probability value is the moment of the front face of the fan in the whole air route;
according to the remote measurement value synchronously stored, the unmanned aerial vehicle GPS at the moment with the maximum probability value is output in an iterative mode, and the orientation value of the fan relative to the unmanned aerial vehicle is calculated;
the method comprises the steps of identifying the front faces of a hub and the hub in real time according to a video frame returned in real time, identifying the center of the hub, automatically identifying the phase after manual confirmation, identifying the phase of the current fan blade relative to a tower drum, inputting the video frame at the moment with the maximum probability value into an orientation identification module, calculating the phase value of the fan blade relative to the tower drum, and storing the calculated orientation value and the calculated phase value into a database to be used as the parameter input of a next inspection task.
3. The operation flow of the unmanned aerial vehicle autonomous fan inspection system according to claim 1, characterized in that: the routing inspection route planning process in the step S2 comprises the following steps: pre-judging and detecting the photographing condition in the whole inspection process according to the loaded inspection route, detecting whether the whole route is suitable for photographing or not, and giving a prompt; after the whole route is suitable for photographing, the route is led out and injected into the unmanned aerial vehicle, and after the unmanned aerial vehicle control system receives an instruction, the unmanned aerial vehicle is controlled to fly according to a conventional route to execute an inspection task from a hovering state; the camera carries out timing shooting according to a shooting instruction injected by a waypoint, discretely frames according to returned video data in the whole task process for illumination check, records waypoint indexes at the moment of insufficient illumination or over-strong illumination, guides an operator to shoot the waypoint and the area nearby the waypoint again, and improves the efficiency.
4. The operation flow of the unmanned aerial vehicle autonomous fan inspection system according to claim 1, characterized in that: the planning process of the return route in the step S3 is as follows: if the electric quantity of the unmanned aerial vehicle is insufficient, a hovering instruction is sent to the unmanned aerial vehicle, the unmanned aerial vehicle is forced to hover, the waypoint index at the moment is recorded and stored in a database, a return route is planned, the route is injected into the unmanned aerial vehicle, and the unmanned aerial vehicle safely lands according to the return route.
5. The operation flow of the unmanned aerial vehicle autonomous fan inspection system according to claim 1, characterized in that: in the step S4, the patrol inspection waypoint and waypoint index data obtained by last execution are read, a breakpoint cruising route is generated through the breakpoint cruising module, the route is simulated, after the safety of the route is confirmed, the waypoint is input into the pre-judgment illumination check module to perform the pre-judgment check of light, the whole route is suitable for photographing, the waypoint is guided out and injected into the unmanned aerial vehicle, the unmanned aerial vehicle control system receives an instruction to control the unmanned aerial vehicle to take off by one key to execute the patrol inspection task, the camera performs timing photographing according to the photographing instruction injected by the waypoint, in the whole task process, the illumination check is performed by discretely framing according to returned video data, the waypoint index at the moment of insufficient illumination or over-strong illumination is recorded, the operator is guided to photograph the waypoint and the area nearby the waypoint again, and the efficiency is improved.
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| CN113312405A (en) * | 2021-04-06 | 2021-08-27 | 华电电力科学研究院有限公司 | Wind turbine generator intelligent inspection method based on big data |
| CN113359842A (en) * | 2021-06-30 | 2021-09-07 | 广西电网有限责任公司电力科学研究院 | Intelligent patrol control analysis system of 10kV power distribution network wireless charging unmanned aerial vehicle |
| CN113552893A (en) * | 2021-07-06 | 2021-10-26 | 苏州臻迪智能科技有限公司 | Air route design method for unmanned aerial vehicle power autonomous inspection, flight method and unmanned aerial vehicle |
| CN114020033A (en) * | 2021-11-25 | 2022-02-08 | 苏州热工研究院有限公司 | Unmanned aerial vehicle detection system and method based on wind generating set blades |
| CN118444693A (en) * | 2024-04-26 | 2024-08-06 | 上海新蜂绿能新能源科技有限公司 | Unmanned aerial vehicle-based fan routing inspection route generation method and system |
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| CN118444693A (en) * | 2024-04-26 | 2024-08-06 | 上海新蜂绿能新能源科技有限公司 | Unmanned aerial vehicle-based fan routing inspection route generation method and system |
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