CN112581648A - Dynamic inspection system and method for wind driven generator blade - Google Patents
Dynamic inspection system and method for wind driven generator blade Download PDFInfo
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- CN112581648A CN112581648A CN202011523492.4A CN202011523492A CN112581648A CN 112581648 A CN112581648 A CN 112581648A CN 202011523492 A CN202011523492 A CN 202011523492A CN 112581648 A CN112581648 A CN 112581648A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Abstract
The invention discloses a dynamic inspection system and a dynamic inspection method for blades of a wind driven generator, wherein the system comprises an airborne fault identification system, an unmanned aerial vehicle control system, an unmanned aerial vehicle take-off and landing device, a data processing system, an unmanned aerial vehicle and a mobile vehicle; the airborne fault identification system comprises a dynamic positioning device and an image acquisition device, the airborne fault identification system is arranged on the unmanned aerial vehicle, and the image acquisition device and the dynamic positioning device acquire real-time dynamic image data of the blades of the wind generating set; the airborne fault identification system is in interactive connection with the data processing system; unmanned aerial vehicle control system and unmanned aerial vehicle take off and land device all set up on the moving vehicle, unmanned aerial vehicle control system and unmanned aerial vehicle interactive connection. The dynamic positioning device and the image acquisition device are arranged to acquire images of the blades of the wind turbine generator in a non-stop state of the wind turbine generator, so that image information of the blades of the wind turbine generator can be accurately acquired, and fault diagnosis is performed through an image identification technology.
Description
Technical Field
The invention belongs to the technical field of wind power generation, and particularly belongs to a dynamic inspection system and method for a wind driven generator blade.
Background
With the gradual maturity of the wind power market, the number of units operated on land exceeds 12 thousands, and the units are put into operation at a speed increase of 10% per year; at sea, thousands of wind power plants are operated at the left and the right, and the wind power plants are put into operation at the speed of doubling every year. The large wind turbines appear in succession, and the length of the blades is increased from the original 40 m-60 m to 60 m-120 m. The traditional blade detection means is a mode of telescope observation and rope sag manual detection, and has the following defects:
(1) the detection efficiency is low, and the labor intensity of workers is high;
(2) high-altitude operation and high detection cost;
(3) the detection time is long, and the loss of the shutdown generated energy is large.
At present, a plurality of companies adopt an unmanned aerial vehicle intelligent inspection technology, an unmanned aerial vehicle carries an image monitoring device to obtain a blade image of a wind turbine generator, and the mode of image recognition is used for replacing manpower to inspect. However, the method is generally a method of acquiring image information of a blade of a wind turbine generator in a static shooting mode by using an unmanned aerial vehicle carrying image monitoring equipment after the wind turbine generator is shut down, and then performing image recognition analysis. The mode needs to be implemented after the wind generating set is stopped, and the stop loss of the wind generating set can be inevitably caused.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a dynamic inspection method and a dynamic inspection system for blades of a wind generating set based on an unmanned aerial vehicle image recognition technology, which can accurately acquire image information of the blades of the wind generating set in a state that the wind generating set does not shut down, and further carry out fault diagnosis through the image recognition technology to finish the inspection work of the blades. The defects that the existing manual inspection and static inspection of the unmanned aerial vehicle are low in detection efficiency, large in labor intensity of workers, long in detection time, large in power generation amount during shutdown and the like are overcome.
In order to achieve the purpose, the invention provides the following technical scheme:
a dynamic inspection system for blades of a wind driven generator comprises an airborne fault identification system, an unmanned aerial vehicle control system, an unmanned aerial vehicle take-off and landing device, a data processing system, an unmanned aerial vehicle and a mobile vehicle;
the airborne fault identification system comprises a dynamic positioning device and an image acquisition device, the airborne fault identification system is arranged on the unmanned aerial vehicle, and the image acquisition device and the dynamic positioning device acquire real-time dynamic image data of the blades of the wind generating set; the airborne fault identification system is in information interactive connection with the data processing system;
unmanned aerial vehicle control system and unmanned aerial vehicle take off and land device all set up on the moving vehicle, unmanned aerial vehicle control system and unmanned aerial vehicle information interaction.
Preferably, the system further comprises a cloud data management system, and the cloud data management system is in information interactive connection with the data processing system.
Preferably, the unmanned aerial vehicle battery cabin device is arranged on a mobile vehicle and comprises a charging circuit, a lithium battery, a battery electric quantity measuring instrument, a battery detecting instrument and a power supply; the one end and the power of charging line are connected, and the other end and the lithium cell of charging line are connected, battery power measuring instrument and battery test instrument detect the lithium cell.
Furthermore, the unmanned aerial vehicle battery compartment device also comprises a battery compartment base, wherein a plurality of grooves are formed in the battery compartment base, an anode copper sheet and a cathode copper sheet are arranged in the grooves, one end of the anode copper sheet is connected with the anode of a power supply through a charging circuit, and the other end of the anode copper sheet is connected with the anode of a lithium battery; one end of the negative electrode copper sheet is connected with the negative electrode of the power supply through a charging circuit, and the other end of the negative electrode copper sheet is connected with the negative electrode of the lithium battery; the lithium battery is embedded inside the groove.
Preferably, unmanned aerial vehicle take-off and landing device includes support frame and take-off and landing platform, and the support frame setting is fought behind the locomotive on, and the take-off and landing platform sets up on the support frame for receive and release unmanned aerial vehicle.
Furthermore, the support frame is a hydraulic telescopic rod, a platform lifting controller is arranged on the lifting platform, and the platform lifting controller controls the hydraulic telescopic rod to stretch.
A wind driven generator blade dynamic inspection method is characterized in that the wind driven generator blade dynamic inspection system based on any one of the above items comprises the following steps,
step 1, controlling an unmanned aerial vehicle to ascend on an unmanned aerial vehicle take-off and landing device through an unmanned aerial vehicle control system;
when the blade state is abnormal, the unmanned aerial vehicle stops at the current position, the airborne fault recognition system collects image data of the blade of the wind turbine generator again, the data processing system analyzes and judges the blade again, and after the problem part of the blade of the wind turbine generator is confirmed, the data processing system records the position of the blade and stores corresponding image data;
and 4, continuing to perform the inspection until the inspection target is subjected to the blade state analysis, returning the unmanned aerial vehicle to the unmanned aerial vehicle take-off and landing device, and finishing the inspection.
Preferably, in step 1, before unmanned aerial vehicle rises, detect the lithium cell through battery power measuring instrument and battery test instrument, select trouble-free and the lithium cell that has charged the completion to install on unmanned aerial vehicle.
Preferably, in step 3, the data processing system uploads the inspection data to the cloud data management system for storage.
Compared with the prior art, the invention has the following beneficial technical effects:
according to the dynamic inspection system for the blades of the wind driven generator, the dynamic positioning device and the image acquisition device are arranged to acquire the images of the blades of the wind driven generator in the non-stop state of the wind driven generator, so that the image information of the blades of the wind driven generator can be accurately acquired, fault diagnosis is further performed through the image identification technology, the energy consumption loss of the wind driven generator caused by stop is avoided, the unmanned aerial vehicle control device and the unmanned aerial vehicle lifting and falling device are arranged on the mobile vehicle, the moving back and forth is convenient to carry out inspection tasks, the carrying and setting are not needed, the inspection of the blades of the wind driven generator can be performed on the vehicle, and the labor is saved.
Furthermore, the data processing system is in interactive connection with the cloud data management system through the cloud data management system. Image data collected by the airborne fault recognition system is conveniently uploaded to the cloud data management system for storage, and checking is facilitated.
Further, through setting up unmanned aerial vehicle battery compartment device, before patrolling and examining, carry out the state through battery power measuring instrument and battery test instrument to the unmanned aerial vehicle lithium cell and detect, avoid patrolling and examining the in-process electric quantity not enough, cause the unmanned aerial vehicle damage.
The invention relates to a dynamic inspection method for blades of a wind driven generator, which is characterized in that a dynamic positioning device and an image acquisition device are adopted to acquire images of blades of the wind driven generator in real time and dynamic data, an airborne fault identification system is identified through software to provide centimeter-level precision positioning results of an unmanned aerial vehicle and a fan in a three-dimensional space, an unmanned aerial vehicle detection airway is automatically planned according to the space positioning data, flight three-dimensional coordinates and postures are adjusted in real time, the unmanned aerial vehicle can automatically plan flight tracks and carry out full-automatic flight, image information of the blades of the wind driven generator is accurately acquired under the non-stop state of the wind driven generator, fault diagnosis is further carried out through an image identification technology, and the blade inspection. The defects that the existing manual inspection and static inspection of the unmanned aerial vehicle are low in detection efficiency, large in labor intensity of workers, long in detection time, large in power generation amount during shutdown and the like are overcome.
Drawings
FIG. 1 is a schematic structural diagram of a wind turbine blade inspection system according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a take-off and landing device of an unmanned aerial vehicle according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of a battery compartment device of an unmanned aerial vehicle according to an embodiment of the invention;
in the drawings: 1 is a fault identification system; 2, an unmanned aerial vehicle control system; 3, an unmanned aerial vehicle taking-off and landing device; 4 is an unmanned aerial vehicle battery compartment device; 5 is a data processing system; 6, a cloud data management system; 7 is a fan; 8 is an unmanned plane; 9 is a moving vehicle; 10 is a platform lifting controller; 11 is a lifting platform; 12 is a supporting frame; 13 is a charging circuit; 14 is a battery compartment base; 15 is a battery electric quantity measuring instrument; 16 cell test meter.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
A dynamic inspection system for blades of a wind driven generator comprises an airborne fault identification system 1, an unmanned aerial vehicle control system 2, an unmanned aerial vehicle take-off and landing device 3, a data processing system 5 and an unmanned aerial vehicle 8;
the airborne fault identification system 1 comprises an RTK high-precision dynamic positioning device, an image acquisition device and a transmission device; the RTK high-precision dynamic positioning device, the image acquisition device and the transmission device are carried on the unmanned aerial vehicle 8 through fixing devices, and the transmission device is formed by WIFI/5G network communication equipment and used for carrying out real-time dynamic data transmission and transmitting image data of blades of the wind generating set when the airborne fault recognition system 1 is in interactive connection with the data processing system 5.
The RTK high-precision dynamic positioning device enables the unmanned aerial vehicle 8 to have a high-precision positioning function, image real-time dynamic data acquisition is carried out on the blades of the wind generating set through the image acquisition device, and the acquired image real-time dynamic data are transmitted to the data processing system 5 through the network communication equipment. The data processing system 5 is used for image recognition, abnormal detection, abnormal image storage and abnormal real-time alarm.
The unmanned aerial vehicle control system 2 is composed of a portable mobile processing device, a software system and a WIFI/5G communication device, wherein the portable mobile processing device is mounted on a vehicle and comprises electronic devices such as a tablet personal computer, a mobile phone and a notebook computer.
Unmanned aerial vehicle control system 2 uses the portable mobile processing equipment that this system was equipped with to compile and patrols and examines the task through patrolling and examining personnel, and unmanned aerial vehicle control system 2 is automatic distributes unmanned aerial vehicle 8 with the operation scope.
Unmanned aerial vehicle control system 2 distinguishes the fan state through the software of this system outfit automatically, discern the fan blade, marshalling, real-time parameter through RTK high accuracy dynamic positioning device in software identification airborne fault recognition system 1, centimeter level precision positioning result of unmanned aerial vehicle 8 and fan in three-dimensional space is provided, according to the space positioning data, independently plan unmanned aerial vehicle detection route, adjust flight three-dimensional coordinate and gesture in real time, realize unmanned aerial vehicle automatic planning flight path, carry out full autonomous flight, and monitor the unmanned aerial vehicle state and carry out image data acquisition work through airborne fault recognition system 1.
The unmanned aerial vehicle take-off and landing device 3 is arranged inside a rear hopper of the moving vehicle 9. Unmanned aerial vehicle take-off and landing device 3 includes support frame 12 and take-off and landing platform 11, and support frame 12 sets up on the locomotive, and take-off and landing platform 11 sets up on the support frame for receive and release unmanned aerial vehicle 8. The support frame is hydraulic telescoping rod, is provided with platform lifting controller 10 on the platform 11 that takes off and land, and platform lifting controller 10 control hydraulic telescoping rod stretches out and draws back. The take-off and landing platform 11 is interactively connected with the unmanned aerial vehicle control system 2 in a short-distance wireless communication mode such as Bluetooth or wifi and is controlled by the unmanned aerial vehicle control system 2; the unmanned aerial vehicle control system 2 realizes the take-off and landing control of the unmanned aerial vehicle take-off and landing device 3 through software equipped by the system. Or may be controlled by its separately provided take-off and landing platform controller 10.
The unmanned aerial vehicle battery compartment device 4 is arranged on the mobile vehicle 9, and the unmanned aerial vehicle battery compartment device 4 comprises a charging circuit 13, a lithium battery, a battery compartment base 14, a battery electric quantity measuring instrument 15, a battery detecting instrument 16 and a power supply; the one end and the power of charging line 13 are connected, and charging line 13's the other end is connected with the lithium cell, and battery electric quantity measuring instrument 15 and battery measuring instrument 16 detect the lithium cell. The power supply is a vehicle-mounted power supply of the mobile vehicle 9.
A plurality of grooves are formed in the battery bin base 14, an anode copper sheet and a cathode copper sheet are arranged in the grooves, one end of the anode copper sheet is connected with the anode of a power supply through a charging circuit 13, and the other end of the anode copper sheet is connected with the anode of a lithium battery; one end of the negative electrode copper sheet is connected with the negative electrode of the power supply through a charging circuit 13, and the other end of the negative electrode copper sheet is connected with the negative electrode of the lithium battery; the lithium battery is embedded inside the groove. Unmanned aerial vehicle battery compartment device 4 carries out interactive connection with unmanned aerial vehicle control system 2 through short distance wireless communication modes such as bluetooth or wifi.
Wherein the charging circuit can be connected with the power, charges the lithium cell that charges among unmanned aerial vehicle battery storehouse device 4. The battery electricity measuring instrument and the battery detecting instrument monitor the rechargeable lithium battery, and the battery state is displayed through the portable mobile processing equipment arranged in the unmanned aerial vehicle control system 2.
The data processing system 5 acquires real-time video image data of the wind turbine blade acquired by the airborne fault recognition system 1, and judges the surface state of the wind turbine blade by comparing the image data related to the historical database. And (3) automatically suspending the flight task after detecting the defect abnormality of the fan blade, amplifying the target, and performing image acquisition, analysis and judgment again. And marking the problem part, storing the screenshot of the defect target and sending a real-time alarm to the unmanned aerial vehicle control system 2.
The data processing system 5 records the flight monitoring state of the unmanned aerial vehicle in the unmanned aerial vehicle control system 2, and generates unmanned aerial vehicle route planning, flight route and routing inspection record files. And uploading the file to the cloud data management system 6 for storage so as to be checked at any time.
After the blades of the wind turbine generator are inspected, the data processing system 5 automatically generates an inspection result, and uploads all inspection data to the cloud data management system 6 for storage so as to be checked at any time.
Cloud data management system 6: the system is composed of a server arranged in the cloud. And the cloud data management system 6 receives and stores the unmanned aerial vehicle route planning, the flight route, the routing inspection record file, the routing inspection report and the routing inspection result data of the processing operation uploaded by the data processing system 5. The management personnel can realize the retrieval and the checking of the polling files through the network.
A dynamic inspection method for a wind driven generator blade comprises the following steps,
step 1, detecting lithium batteries through a battery electric quantity measuring instrument 15 and a battery detecting instrument 16, selecting fault-free and charged lithium batteries to be installed on an unmanned aerial vehicle 8, and controlling the unmanned aerial vehicle 8 to rise through an unmanned aerial vehicle control system 2 on an unmanned aerial vehicle take-off and landing device 3;
when the blade state is unusual, unmanned aerial vehicle 8 stops in the present position, and airborne fault identification system 1 carries out image data acquisition once more to the wind turbine generator system blade, and data processing system 5 carries out analysis and judgment once more, confirms wind turbine generator system blade problem position back, and data processing system 5 record blade position preserves corresponding image data, will patrol and examine data upload to high in the clouds data management system 6 and preserve.
And 4, continuing to perform the inspection until the inspection target is subjected to the blade state analysis, returning the unmanned aerial vehicle 8 to the unmanned aerial vehicle take-off and landing device 3, and finishing the inspection.
Examples
1. After an inspector drives a mobile vehicle 9 carrying the dynamic blade inspection system to go to the position near a fan 7 of a wind generating set needing blade inspection, the unmanned aerial vehicle battery compartment device 4 is used for checking whether the electric quantity and the battery of the lithium battery of the unmanned aerial vehicle are in fault, and the charged lithium battery without fault is selected from the unmanned aerial vehicle battery compartment device 4 and is loaded into an unmanned aerial vehicle 8 placed on the unmanned aerial vehicle take-off and landing device 3.
2. The inspection personnel control the unmanned aerial vehicle take-off and landing device 3 to rise through operating the unmanned aerial vehicle control system 2. The unmanned aerial vehicle take-off and landing device 3 can also be operated, and the take-off and landing platform controller 10 arranged independently controls the platform to be lifted.
3. The patrolling personnel work out the task of patrolling and examining through the portable mobile processing equipment of operation unmanned aerial vehicle control system 2 outfit, and unmanned aerial vehicle control system 2 is automatic distributes unmanned aerial vehicle 8 with the operation scope. If the patrolling personnel work up a task to patrol the state of the blades of the wind power plant No. 1-3, the unmanned aerial vehicle control system 2 automatically sets the blades of the wind power generator set No. 1 of the first patrol task, the blades of the wind power generator set No. 2 of the second patrol task and the blades of the wind power generator set No. 3 of the third patrol task, and orderly performs image patrol.
4. Patrol and examine personnel and start unmanned aerial vehicle 8 through operation unmanned aerial vehicle control system 2, this system differentiates the fan state automatically, discern the fan blade, marshalling, through the real-time parameter of RTK high accuracy dynamic positioning device in software identification airborne fault recognition system 1, provide unmanned aerial vehicle and fan centimeter level precision positioning result in three-dimensional space, according to the space positioning data, the unmanned aerial vehicle of autonomic planning detects the route, adjust flight three-dimensional coordinate and gesture real time, realize unmanned aerial vehicle automatic planning flight track, carry out full autonomous flight, and monitor the unmanned aerial vehicle state and carry out image data acquisition work through airborne fault recognition system 1.
5. The airborne fault recognition system 1 automatically carries out image real-time dynamic data acquisition on the blades of the wind generating set through video acquisition equipment of the airborne fault recognition system, and transmits the acquired image real-time dynamic data to the data processing system 5 through network communication equipment. And carrying out image identification, anomaly detection, anomaly image storage and anomaly real-time alarm.
6. The data processing system 5 acquires real-time video image data of the wind turbine blade acquired by the airborne fault recognition system 1, and judges the surface state of the wind turbine blade by comparing the image data related to the historical database. And (3) automatically suspending the flight task after detecting the defect abnormality of the fan blade, amplifying the target, and performing image acquisition, analysis and judgment again. And marking the problem part, storing the screenshot of the defect target and sending a real-time alarm to the unmanned aerial vehicle control system 2.
7. The data processing system 5 records the flight monitoring state of the unmanned aerial vehicle in the unmanned aerial vehicle control system 2, and generates unmanned aerial vehicle route planning, flight route and routing inspection record files. And uploading the file to the cloud data management system 6 for storage so as to be checked at any time.
8. The unmanned aerial vehicle control system 2 automatically judges whether the polling task is finished or not, if not, the step 4 is automatically returned, and a second polling task is executed. If the polling task is completely finished, the unmanned aerial vehicle 8 is automatically controlled to return to the unmanned aerial vehicle take-off and landing device 3, and a command that the polling task is finished is synchronously issued.
9. After receiving the wind turbine blade inspection completion instruction, the data processing system 5 automatically generates an inspection result, and uploads all inspection data to the cloud data management system 6 for storage so as to be checked at any time.
10. And the cloud data management system 6 receives and stores the unmanned aerial vehicle route planning, the flight route, the routing inspection record file, the routing inspection report and the routing inspection result data of the processing operation uploaded by the data processing system 5. The management personnel can realize the retrieval and the checking of the polling files through the network.
11. The inspection personnel control the unmanned aerial vehicle take-off and landing device 3 to descend by operating the unmanned aerial vehicle control system 2 and take back the unmanned aerial vehicle take-off and landing device into the car hopper. The lifting platform controller 10 which is independently arranged on the unmanned aerial vehicle lifting device 3 can also be operated to control the lifting platform 11 to descend and withdraw into the car hopper.
12. The personnel of patrolling and examining take off the unmanned aerial vehicle lithium cell, pack back and charge in unmanned aerial vehicle battery storehouse device 4.
13. And the next wind generating set needing to be inspected for the blades or the wind generating set returns. And finishing the polling task.
Claims (9)
1. A dynamic inspection system for blades of a wind driven generator is characterized by comprising an airborne fault identification system (1), an unmanned aerial vehicle control system (2), an unmanned aerial vehicle take-off and landing device (3), a data processing system (5), an unmanned aerial vehicle (8) and a mobile vehicle (9);
the airborne fault recognition system (1) comprises a dynamic positioning device and an image acquisition device, the airborne fault recognition system (1) is arranged on the unmanned aerial vehicle (8), and the image acquisition device and the dynamic positioning device acquire images of blades of the wind generating set in real time and dynamically; the airborne fault recognition system (1) is in information interactive connection with the data processing system (5);
unmanned aerial vehicle control system (2) and unmanned aerial vehicle take off and land device (3) all set up on moving vehicle (9), unmanned aerial vehicle control system (2) and unmanned aerial vehicle (8) information interactive connection.
2. The wind turbine blade dynamic inspection system according to claim 1, further comprising a cloud data management system (6), wherein the cloud data management system (6) is in information interaction connection with the data processing system (5).
3. The dynamic inspection system for the blades of the wind driven generator according to claim 1, further comprising an unmanned aerial vehicle battery compartment device (4), wherein the unmanned aerial vehicle battery compartment device (4) is arranged on a moving vehicle (9), and the unmanned aerial vehicle battery compartment device (4) comprises a charging circuit (13), a lithium battery, a battery electric quantity measuring instrument (15), a battery detecting instrument (16) and a power supply; the one end and the power of charging line (13) are connected, and the other end and the lithium cell of charging line (13) are connected, battery electric quantity measuring instrument (15) and battery detecting instrument (16) detect the lithium cell.
4. The wind driven generator blade inspection system according to claim 3, wherein the unmanned aerial vehicle battery bin device (4) further comprises a battery bin base (14), a plurality of grooves are formed in the battery bin base (14), positive copper sheets and negative copper sheets are arranged in the grooves, one end of each positive copper sheet is connected with the positive electrode of a power supply through a charging circuit (13), and the other end of each positive copper sheet is connected with the positive electrode of a lithium battery; one end of the negative electrode copper sheet is connected with the negative electrode of the power supply through a charging circuit (13), and the other end of the negative electrode copper sheet is connected with the negative electrode of the lithium battery; the lithium battery is embedded inside the groove.
5. The wind driven generator blade dynamic inspection system according to claim 1, wherein the unmanned aerial vehicle take-off and landing device (3) comprises a support frame (12) and a take-off and landing platform (11), the support frame (12) is arranged on a rear bucket of the moving vehicle, and the take-off and landing platform (11) is arranged on the support frame (12) and used for retracting the unmanned aerial vehicle (8).
6. The wind driven generator blade inspection system according to claim 5, wherein the support frame (12) is a hydraulic telescopic rod, a platform lifting controller (10) is arranged on the lifting platform (11), and the platform lifting controller (10) controls the hydraulic telescopic rod to extend and retract.
7. A wind power generator blade dynamic inspection method is characterized in that the wind power generator blade dynamic inspection system based on any one of claims 1 to 6 comprises the following steps,
step 1, controlling an unmanned aerial vehicle (8) to rise on an unmanned aerial vehicle take-off and landing device (3) through an unmanned aerial vehicle control system (2);
step 2, setting a routing inspection target by the unmanned aerial vehicle control system (2), and acquiring image data of the wind generating set blade by the airborne fault recognition system (1) on the unmanned aerial vehicle (8);
step 3, the airborne fault recognition system (1) transmits the acquired image data to the data processing system (5), and the data processing system (5) processes the image data and analyzes the blade state;
when the blade state is abnormal, the unmanned aerial vehicle (8) stops at the current position, the airborne fault recognition system (1) collects image data of the blade of the wind turbine generator again, the data processing system (5) analyzes and judges the blade again, and after the problem part of the blade of the wind turbine generator is confirmed, the data processing system (5) records the position of the blade and stores corresponding image data;
and 4, continuing to perform the inspection until the inspection target is subjected to the blade state analysis, returning the unmanned aerial vehicle (8) to the unmanned aerial vehicle take-off and landing device (3), and finishing the inspection.
8. The method for dynamically inspecting the blades of the wind driven generator according to claim 7, wherein in the step 1, before the unmanned aerial vehicle (8) is lifted, lithium batteries are detected through the battery electricity measuring instrument (15) and the battery detecting instrument (16), and the lithium batteries which are free of faults and are charged are selected and installed on the unmanned aerial vehicle (8).
9. The wind turbine blade dynamic inspection method according to claim 7, wherein in the step 3, the data processing system (5) uploads the inspection data to the cloud data management system (6) for storage.
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| CN202011523492.4A CN112581648A (en) | 2020-12-21 | 2020-12-21 | Dynamic inspection system and method for wind driven generator blade |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114296483A (en) * | 2022-03-09 | 2022-04-08 | 北京图知天下科技有限责任公司 | Intelligent inspection method and electronic equipment for wind driven generator in non-stop state |
-
2020
- 2020-12-21 CN CN202011523492.4A patent/CN112581648A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114296483A (en) * | 2022-03-09 | 2022-04-08 | 北京图知天下科技有限责任公司 | Intelligent inspection method and electronic equipment for wind driven generator in non-stop state |
| CN114296483B (en) * | 2022-03-09 | 2022-06-28 | 北京图知天下科技有限责任公司 | Intelligent inspection method and electronic equipment for wind driven generator in non-stop state |
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