CN112882487A - Unmanned aerial vehicle inspection track generation method, inspection method and system for fan blade - Google Patents
Unmanned aerial vehicle inspection track generation method, inspection method and system for fan blade Download PDFInfo
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Abstract
The invention provides a method, a method and a system for generating an unmanned aerial vehicle inspection track of a fan blade, which provide an operation basis for automatic inspection of an unmanned aerial vehicle, and provide the method and the system for inspecting the unmanned aerial vehicle of the fan blade to realize automatic inspection of the unmanned aerial vehicle, so that the problems that the unmanned aerial vehicle is easy to crash and damage the inspection blade and possibly cause secondary damage to the fan blade under the condition that the unmanned aerial vehicle is in charge of sudden wind or other unexpected factors due to excessive dependence on the operation skill of a driver of the unmanned aerial vehicle in the conventional unmanned aerial vehicle operation mode are solved. The method comprises the following steps: acquiring a photo of the fan to be detected including blade information; s2: calculating the fan orientation and impeller phase information of the fan to be detected in the picture; s3: and generating a blade inspection track of the fan to be detected by combining a preset air route according to the fan orientation and the impeller phase information of the fan to be detected.
Description
Technical Field
The invention belongs to the technical field of fan blade inspection, and particularly relates to a method, a method and a system for generating an unmanned aerial vehicle inspection track of a fan blade.
Background
At present, blade inspection methods in the wind power industry are various, a telescope, a spider man, a hanging basket, a square platform and the like are mainly expected, and most blades of wind driven generators are located in the high altitude of 40-120 meters, so that a large amount of manpower, material resources and time are required to be input by the scheme. In terms of the hanging basket scheme, the blades of the inspection single unit not only need to be stopped for 8-10 hours, but also have potential safety hazards of personnel falling. The scheme has poor safety and serious loss of generated energy, and the routing inspection effect is not ideal.
At present, about one hundred thousand fans are transported in the domestic wind power market, and due to poor quality of blade routing inspection and overlong routing inspection downtime in the industry, the blades of a plurality of units are never inspected since being hoisted, and along with the increase of running time of the fans, the problems of the blades are endless and the health state is anxious.
Along with the development of unmanned aerial vehicle industry, adopt unmanned aerial vehicle to patrol and examine the fan blade mode of patrolling and examining that becomes the mainstream gradually, the operation that utilizes unmanned aerial vehicle to carry out the blade and patrol and examine specifically is: the unmanned aerial vehicle driver observes the blade surface state through the real-time data that ground station shows, and when finding suspicious point the further detailed inspection of remote operation unmanned aerial vehicle to gather the high definition picture of each angle, then gather the high definition image data of these different angles to the expert through the software platform, judge and the analysis by the expert.
Above-mentioned adopt unmanned aerial vehicle to patrol and examine the mode as the blade, solved the blade and patrolled and examined efficiency and personnel safety problem, nevertheless also have certain limitation simultaneously, the concrete performance is: this mode excessively relies on unmanned aerial vehicle navigating mate's operating skill, because a tower section of thick bamboo and blade are higher, the unmanned aerial vehicle navigating mate that is in ground hardly accurately judges the distance of unmanned aerial vehicle and blade, it is directional also hardly to judge unmanned aerial vehicle's aircraft nose, can only rely on the supplementary judgement of long-range video of machine-carried camera, consequently, under the condition of reply gust wind or other unexpected factors, easily cause unmanned aerial vehicle to hit and patrol and examine the blade and crash the damage, and more serious problem is that secondary damage may cause the blade.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a method for generating the unmanned aerial vehicle inspection track of a fan blade, which provides an operation basis for the automatic inspection of an unmanned aerial vehicle, and provides a method and a system for the unmanned aerial vehicle inspection track of the fan blade to realize the automatic inspection of the unmanned aerial vehicle, so that the problems that the unmanned aerial vehicle is easy to crash and damage the inspection blade and the fan blade is possibly secondarily damaged due to the fact that the unmanned aerial vehicle is in collision with the inspection blade under the condition of coping with gust wind or other unexpected factors due to the fact that the operation mode of the existing unmanned aerial vehicle excessively depends on the operation.
The invention is realized by the following technical scheme:
an unmanned aerial vehicle inspection track generation method for fan blades comprises the following steps:
s1: acquiring a photo of the fan to be detected including blade information;
s2: calculating the fan orientation and impeller phase information of the fan to be detected in the picture;
s3: and generating a blade inspection track of the fan to be detected by combining a preset air route according to the fan orientation and the impeller phase information of the fan to be detected.
Further, the step S2 specifically includes:
s2-1: constructing a fan characteristic identification model;
s2-2: identifying the fan in the picture by adopting the fan characteristic identification model to obtain characteristic parameters of the fan to be detected under the camera coordinate;
s2-3: receiving the parameter information of the fan to be detected, converting the characteristic parameters of the fan to be detected under the camera coordinate into the fan orientation and impeller phase information under the unmanned aerial vehicle coordinate according to the parameter information, and obtaining the fan orientation and impeller phase information of the fan to be detected in the picture.
Further, the step S2-2 specifically includes:
s2-2-1: judging the position of the fan in the picture by adopting the fan characteristic identification model to obtain fan and background segmentation parameters;
s-2-2: identifying the fan in the picture according to the fan and the background segmentation parameters to obtain the identified fan;
s-2-3: and extracting characteristic parameters of the fan to be detected under the camera coordinate from the identified fan, wherein the characteristic parameters of the fan to be detected under the camera coordinate comprise fan orientation parameters of the fan to be detected under the camera coordinate and impeller phase parameters of the fan to be detected under the camera coordinate.
Further, the method also comprises the step of displaying the blade inspection track in a map mode.
Further, the preset route adopts a preset route template;
the number of the preset air route templates is multiple, and each preset air route template corresponds to the fan blades in different shapes.
Further, after generating the blade inspection track of the fan to be inspected, the method further comprises the step of S4:
a, calculating the sun azimuth in real time according to the local GPS position and time information;
b, judging whether an operating position point facing to the sunlight exists in the generated blade polling track of the fan to be detected or not by combining the sun direction, and evaluating the generated blade polling track of the fan to be detected according to the area of the operating position point facing to the sun in the generated blade polling track of the fan to be detected;
and c, judging whether the generated blade inspection track of the fan to be detected is adopted or not according to the evaluation result of the generated blade inspection track of the fan to be detected.
The unmanned aerial vehicle inspection method for the fan blades comprises the following steps:
1) generating a blade inspection track of the fan to be inspected according to claim 1;
2) and sending the blade inspection track to an unmanned aerial vehicle, so that the unmanned aerial vehicle can automatically inspect and photograph according to the blade inspection track.
Further, the step 2) specifically includes:
t1: generating a file format which can be received by the unmanned aerial vehicle from the blade inspection track, and sending the file format to the unmanned aerial vehicle through an unmanned aerial vehicle data interface;
t2: the unmanned aerial vehicle receives the blade inspection track and sends the blade inspection track to an internal automatic driving control program;
t3: and the automatic driving control program controls the unmanned aerial vehicle to automatically run to the operation coordinate position according to the blade inspection track, and the unmanned aerial vehicle controls the camera to inspect and photograph the blade.
Further, in step T3, in the process that the unmanned aerial vehicle controls the camera to inspect and photograph the blade, the camera driver program arranged inside the unmanned aerial vehicle compares the position of the fan blade displayed in the picture taken by the camera with a preset position interval, and if the position of the fan blade displayed in the picture taken by the camera is not within the preset position interval, the camera driver program drives the camera to perform position adjustment.
The unmanned aerial vehicle inspection system for the fan blade comprises a blade inspection track generation system, an unmanned aerial vehicle data interface, an unmanned aerial vehicle and an automatic driving control program;
the blade inspection track generation system is used for generating the blade inspection track according to claim 1;
the unmanned aerial vehicle data interface is arranged in the blade inspection track generation system and used for sending the blade inspection track to the unmanned aerial vehicle;
the unmanned aerial vehicle is used for receiving the blade inspection track and sending the blade inspection track to an internal automatic driving control program;
the automatic driving control program is arranged in the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to automatically run to the operation coordinate position, and the unmanned aerial vehicle controls the camera to inspect and photograph the blades.
Compared with the closest prior art, the technical scheme of the invention has the following beneficial effects:
the invention provides a method for generating an unmanned aerial vehicle inspection track of a fan blade, which utilizes an image processing technology and a real-time path planning technology to identify the directions of the blade and an unmanned aerial vehicle and give the coordinate position of an operation point; the method is characterized in that machine vision is taken as a theoretical basis, the shutdown direction and the phase of an air outlet machine are intelligently identified through image analysis, and a complete inspection operation track is formed after GPS geographic information is combined, so that an operation basis is provided for automatic inspection of the unmanned aerial vehicle;
the invention provides an unmanned aerial vehicle inspection method for fan blades, wherein an automatic driving control program in an unmanned aerial vehicle controls the unmanned aerial vehicle to automatically run to an operation coordinate position according to a generated blade inspection track, and a camera is controlled by the unmanned aerial vehicle to inspect and photograph the blades, so that the automatic inspection of the unmanned aerial vehicle is realized, manual operation is not needed, the method is efficient and reliable, and the probability of accidents such as crash damage and secondary damage of the fan blades caused by the fact that the unmanned aerial vehicle collides with the inspection blades is reduced under the condition that the unmanned aerial vehicle is in response to sudden wind or other accidental factors.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flow chart of an unmanned aerial vehicle inspection method for a fan blade in this embodiment;
fig. 2 is a block flow diagram of specific steps of calculating fan orientation and impeller phase information of a fan to be detected in a photograph in this embodiment.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides an unmanned aerial vehicle inspection system for fan blades, which comprises a blade inspection track generation system, an unmanned aerial vehicle data interface, an unmanned aerial vehicle, an automatic driving control program and a camera driving program;
in the blade track generation system was located to unmanned aerial vehicle data interface, unmanned aerial vehicle data interface adopted the compatible mainstream agreement with unmanned aerial vehicle's flight control agreement, and the track generation system is patrolled and examined to the blade passes through unmanned aerial vehicle data interface and is connected with unmanned aerial vehicle, sets up autopilot control program and camera driver in the unmanned aerial vehicle.
As shown in fig. 1, the unmanned aerial vehicle inspection system for fan blades performs the following inspection method:
1) generating a blade inspection track of the fan to be inspected;
2) patrol and examine the orbit with the blade and send for unmanned aerial vehicle patrols and examines the orbit according to the blade, patrols and examines the orbit automatically and shoots, specifically is:
t1: generating a file format which can be received by the unmanned aerial vehicle, specifically a file format compatible with a flight control protocol of the unmanned aerial vehicle, from the blade inspection track, and then sending the file format to the unmanned aerial vehicle through an unmanned aerial vehicle data interface;
t2: the unmanned aerial vehicle receives the blade inspection track and sends the blade inspection track to an internal automatic driving control program;
t3: the automatic driving control program controls the unmanned aerial vehicle to automatically run to an operation coordinate position to inspect and photograph the blades according to the blade inspection track; in order to ensure that the shot blade is located in an imaging center area, in the process of controlling a camera of an unmanned aerial vehicle to check and shoot the blade, a camera driving program arranged in the unmanned aerial vehicle compares the position of a fan blade displayed in a picture shot by the camera with a preset position interval, if the position of the fan blade displayed in the picture shot by the camera is not in the preset position interval, the camera driving program drives the camera to adjust the position, specifically, the rotation angles in the x-axis direction, the y-axis direction and the z-axis direction of the camera are respectively adjusted until the position of the fan blade displayed in the picture shot by the camera is in the preset position interval, the preset position interval is preferably the center position in the picture, and the shot blade is ensured to be located in the imaging center area.
The unmanned aerial vehicle data interface can quickly and effectively send the generated blade inspection track to the unmanned aerial vehicle, the blade inspection track is generated into a file format compatible with a flight control protocol of the unmanned aerial vehicle, and the unmanned aerial vehicle data interface adopts a mainstream protocol compatible with the flight control protocol of the unmanned aerial vehicle, so that data errors caused by a manual input mode can be avoided;
the file format is preferably a universal format and can be applied to various unmanned aerial vehicles.
The method for generating the blade inspection track of the fan to be inspected specifically comprises the following steps:
s1: the method includes the steps of obtaining a photo including blade information of a fan to be detected, and specifically including:
s1-1: under random conditions, enabling the fan to be detected to be in a shutdown state;
s1-2: treat examining the fan under the parking state and shoot, acquire the photo of waiting to examine the fan, the photo requires to shoot the apex of three blades is whole, and is preferred, in order to be convenient for shoot waiting to examine the fan under the parking state, adopts unmanned aerial vehicle to shoot, specifically adopts to carry the camera of carrying on unmanned aerial vehicle to shoot.
S2: calculating the fan orientation and the impeller phase information of the fan to be detected in the picture, as shown in fig. 2, specifically including:
s2-1: constructing a fan characteristic identification model, which specifically comprises the following steps:
s2-1-1: collecting picture samples of fan blades, wherein the picture samples include but are not limited to a standard fan picture sample and an interference fan picture sample, and the interference fan picture sample includes a water surface interference fan picture sample, a ground interference fan picture sample, a tree interference fan picture sample and a fog interference fan picture sample;
s2-1-1: selecting feature points from the scene of the picture sample for marking according to the picture sample, wherein the marking mode includes but is not limited to manual marking, so that a fan feature identification model is obtained;
s2-2: adopting fan feature identification model to discern the fan in the comparison piece, obtain the characteristic parameter of waiting to examine the fan under the camera coordinate, specifically include:
s2-2-1: judging the position of the fan in the comparison sheet by adopting a fan characteristic identification model to obtain fan and background segmentation parameters;
s-2-2: identifying the fan in the comparison sheet according to the fan and the background segmentation parameters to obtain the identified fan;
s-2-3: and extracting characteristic parameters of the fan to be detected under the camera coordinate from the identified fan, wherein the characteristic parameters of the fan to be detected under the camera coordinate comprise a fan orientation parameter of the fan to be detected under the camera coordinate and an impeller phase parameter of the fan to be detected under the camera coordinate.
S2-3: receiving parameter information of the fan to be detected, wherein the parameter information comprises a fan coordinate, a tower height, a blade length, a blade airfoil profile and the like, converting characteristic parameters of the fan to be detected under a camera coordinate into fan orientation and impeller phase information under an unmanned aerial vehicle coordinate according to the parameter information, and obtaining the fan orientation and the impeller phase information of the fan to be detected in a photo.
S3: and generating a blade inspection track of the fan to be detected by combining a preset air route according to the fan orientation and the impeller phase information of the fan to be detected.
S4: evaluating the leaf routing inspection track, and specifically comprising the following steps:
a, calculating the sun azimuth in real time according to the local GPS position and time information;
b, judging whether an operating position point facing to the sunlight exists in the generated blade polling track of the fan to be detected or not by combining the sun direction, and evaluating the generated blade polling track of the fan to be detected according to the area of the operating position point facing to the sun in the generated blade polling track of the fan to be detected;
and c, judging whether the generated blade inspection track of the fan to be detected is adopted or not according to the evaluation result of the generated blade inspection track of the fan to be detected.
The mode of patrolling and examining now, when patrolling and examining, need be adjusted the fan into a certain fixed phase place, the impeller can be rotated to the wind speed longer and need then in earlier stage preparation time, but this embodiment rapid judgement fan impeller orientation, phase place generate corresponding work orbit, no longer require the fan to stop at fixed phase place, reduce the work preparation time and to the requirement of weather factor.
Because each track point that unmanned aerial vehicle patrolled and examined will be unanimous with the orientation and the phase place of fan to possess enough high precision, and because the fan shuts down and probably is in arbitrary orientation and arbitrary phase place, in this embodiment, calculate fan orientation and impeller phase place, ensure that unmanned aerial vehicle can not strike the blade at the operation in-process of patrolling and examining, thereby can not cause blade secondary damage.
The stop orientation of the fan is random, so that a phenomenon that the photographing quality is influenced due to the fact that a camera faces the sun direction and a large-area halo effect is caused exists in the inspection operation process, the sun direction is calculated according to information such as the local geographical position and the real-time, whether an operation position facing the sun in a large area exists is automatically judged in track generation, the overall situation of the track is evaluated, if the operation position of the optical axis of the camera pointing to the sun is more, a worker is prompted, whether the track is executed or not is considered according to the actual weather situation, or the stop orientation of the fan is changed, and the problem that the photographing quality is influenced by the sunlight in the inspection operation process is effectively solved.
Above-mentioned blade mode of patrolling and examining, in the whole course of work, the staff only need input the parameter information of waiting to examine the fan, and after the orbit was patrolled and examined in the generation, unmanned aerial vehicle automatic execution patrolled and examined the task, no longer need the manual control.
As the preferred embodiment, the blade inspection track of the fan to be inspected is generated and displayed in a map mode, so that workers can conveniently manually inspect and confirm the blade inspection track, track data errors caused by misoperation can be found in time, and problems in the operation process can be avoided.
The existing preset route is manually operated in the process of generating the blade routing inspection track of the fan to be detected, the efficiency is low, errors are easy to occur, and as a preferred embodiment, the preset route adopts a preset route template, meanwhile, workers are supported to modify a track generation mode, and then the preset route template is called when the preset route is used, so that the generation efficiency and the accuracy of the blade routing inspection track of the fan to be detected are improved;
as the blades of the fan to be detected have different shapes, including different lengths, different widths, different tips, different wing bends, different inclination angles and the like, in order to control the distance between the track operating point and the fan blades and ensure the photographing quality, a plurality of preset route templates are adopted, and each preset route template corresponds to the fan blades in different shapes, so that corresponding preset route templates are correspondingly called for the blades in different shapes, and particularly, the preset route templates can correspond to different preset route templates according to different length parameters of the blades.
Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can make modifications and equivalents to the embodiments of the present invention without departing from the spirit and scope of the present invention, which is set forth in the claims of the present application.
Claims (10)
1. The unmanned aerial vehicle inspection track generation method of the fan blade is characterized by comprising the following steps of:
s1: acquiring a photo of the fan to be detected including blade information;
s2: calculating the fan orientation and impeller phase information of the fan to be detected in the picture;
s3: and generating a blade inspection track of the fan to be detected by combining a preset air route according to the fan orientation and the impeller phase information of the fan to be detected.
2. The unmanned aerial vehicle inspection trajectory generation method of a fan blade according to claim 1, wherein the step S2 specifically includes:
s2-1: constructing a fan characteristic identification model;
s2-2: identifying the fan in the picture by adopting the fan characteristic identification model to obtain characteristic parameters of the fan to be detected under the camera coordinate;
s2-3: receiving the parameter information of the fan to be detected, converting the characteristic parameters of the fan to be detected under the camera coordinate into the fan orientation and impeller phase information under the unmanned aerial vehicle coordinate according to the parameter information, and obtaining the fan orientation and impeller phase information of the fan to be detected in the picture.
3. The unmanned aerial vehicle inspection trajectory generation method of the fan blade according to claim 2, wherein the step S2-2 specifically includes:
s2-2-1: judging the position of the fan in the picture by adopting the fan characteristic identification model to obtain fan and background segmentation parameters;
s-2-2: identifying the fan in the picture according to the fan and the background segmentation parameters to obtain the identified fan;
s-2-3: and extracting characteristic parameters of the fan to be detected under the camera coordinate from the identified fan, wherein the characteristic parameters of the fan to be detected under the camera coordinate comprise fan orientation parameters of the fan to be detected under the camera coordinate and impeller phase parameters of the fan to be detected under the camera coordinate.
4. The unmanned aerial vehicle inspection trajectory generation method of a fan blade according to claim 1, further comprising displaying the blade inspection trajectory in a map manner.
5. The unmanned aerial vehicle inspection track generation method of fan blades according to claim 1, wherein the preset route adopts a preset route template;
the number of the preset air route templates is multiple, and each preset air route template corresponds to the fan blades in different shapes.
6. The unmanned aerial vehicle inspection track generation method of the fan blade according to claim 1, wherein after the blade inspection track of the fan to be inspected is generated, the method further comprises the step of S4:
a, calculating the sun azimuth in real time according to the local GPS position and time information;
b, judging whether an operating position point facing to the sunlight exists in the generated blade polling track of the fan to be detected or not by combining the sun direction, and evaluating the generated blade polling track of the fan to be detected according to the area of the operating position point facing to the sun in the generated blade polling track of the fan to be detected;
and c, judging whether the generated blade inspection track of the fan to be detected is adopted or not according to the evaluation result of the generated blade inspection track of the fan to be detected.
7. The unmanned aerial vehicle inspection method for the fan blades is characterized by comprising the following steps:
1) generating a blade inspection track of the fan to be inspected according to claim 1;
2) and sending the blade inspection track to an unmanned aerial vehicle, so that the unmanned aerial vehicle can automatically inspect and photograph according to the blade inspection track.
8. The unmanned aerial vehicle inspection method for fan blades according to claim 7, wherein the step 2) specifically comprises:
t1: generating a file format which can be received by the unmanned aerial vehicle from the blade inspection track, and sending the file format to the unmanned aerial vehicle through an unmanned aerial vehicle data interface;
t2: the unmanned aerial vehicle receives the blade inspection track and sends the blade inspection track to an internal automatic driving control program;
t3: and the automatic driving control program controls the unmanned aerial vehicle to automatically run to the operation coordinate position according to the blade inspection track, and the unmanned aerial vehicle controls the camera to inspect and photograph the blade.
9. The unmanned aerial vehicle inspection method according to claim 8, wherein in step T3, in a process of controlling the camera by the unmanned aerial vehicle to inspect and photograph the blade, the camera driver installed inside the unmanned aerial vehicle compares a position of the fan blade displayed in a photograph taken by the camera with a preset position interval, and if the position of the fan blade displayed in the photograph taken by the camera is not within the preset position interval, the camera driver drives the camera to perform position adjustment.
10. The unmanned aerial vehicle inspection system for the fan blade is characterized by comprising a blade inspection track generation system, an unmanned aerial vehicle data interface, an unmanned aerial vehicle and an automatic driving control program;
the blade inspection track generation system is used for generating the blade inspection track according to claim 1;
the unmanned aerial vehicle data interface is arranged in the blade inspection track generation system and used for sending the blade inspection track to the unmanned aerial vehicle;
the unmanned aerial vehicle is used for receiving the blade inspection track and sending the blade inspection track to an internal automatic driving control program;
the automatic driving control program is arranged in the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to automatically run to the operation coordinate position, and the unmanned aerial vehicle controls the camera to inspect and photograph the blades.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114428518A (en) * | 2021-12-09 | 2022-05-03 | 西安因诺航空科技有限公司 | Fan orientation method for automatic inspection of fan blade of unmanned aerial vehicle |
| CN115908049A (en) * | 2022-11-18 | 2023-04-04 | 众芯汉创（北京）科技有限公司 | Fan blade hovering position dynamic identification system based on intelligent identification |
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